Active disturbance rejection control of Single wheel robot - 文章详情页

作者：

Ruan, Xiaogang (Ruan, Xiaogang.) | Wang, Xu (Wang, Xu.) | Zhu, Xiaoqing (Zhu, Xiaoqing.) | Chen, Zhigang (Chen, Zhigang.) | Sun, Rongyi (Sun, Rongyi.)

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EI Scopus

摘要：

With　only　one　contact　point　with　ground,　the　balance　control　problem　of　Single　wheel　robot　(SWR)　is　still　a　big　challenge　for　researchers.　In　this　paper,　a　new　nonlinear　control　algorithm　-　ADRC　(active　disturbance　rejection　control　technique)　was　proposed.　The　integration　simulation　by　ADAMS　and　MATLAB　of　flywheel　balanced　SWR　is　presented.　The　integrated　platform　provides　an　avenue　for　developing　a　mechatronics　system　without　the　need　of　building　mathematical　model.　The　simulation　results　verified　the　robustness　of　the　proposed　ADRC　method　on　the　control　of　SWR.　©　2014　IEEE.

关键词：

Robustness (control systems) MATLAB Disturbance rejection Wheels Robots Motion control Intelligent control

作者机构：

[ 1 ] [Ruan, Xiaogang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100022, China
[ 2 ] [Wang, Xu]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100022, China
[ 3 ] [Zhu, Xiaoqing]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100022, China
[ 4 ] [Chen, Zhigang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100022, China
[ 5 ] [Sun, Rongyi]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100022, China

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