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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:

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

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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来源 :

年份: 2014

期: March

卷: 2015-March

页码: 4105-4110

语种: 英文

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次: 2

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 3

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