LQR control for a self-balancing unicycle robot - 文章详情页

作者：

Gong, Daoxiong (Gong, Daoxiong.) | Pan, Qi (Pan, Qi.) | Zuo, Guoyu (Zuo, Guoyu.) (学者：左国玉) | Deng, Wenbo (Deng, Wenbo.)

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EI Scopus

摘要：

A　self-balancing　unicycle　robot,　which　has　a　wheel　for　balancing　and　movement　in　the　longitudinal　plane　(pitch　angle)　as　well　as　a　flywheel　for　balancing　in　the　lateral　plane　(roll　angle),　is　studied　in　this　paper.　The　non-linear　dynamic　equations　of　the　unicycle　robot　on　a　slope　are　analyzed　using　the　Lagrangian　dynamic　formulation,　then　a　linear　model　of　the　robot　is　derived　at　the　equilibrium　point,　and　3　linear　quadratic　regulators　(LQR)　are　designed　to　control　the　robot　on　slopes　with　the　angle　of　inclination　varying　from　-11°to　11°.　Simulation　results　validated　that　the　unicycle　robot　can　achieve　good　performance　both　on　level　plane　and　on　slope.　©　2012　IEEE.

关键词：

Mobile robots Models Vehicles Linear control systems Intelligent control

作者机构：

[ 1 ] [Gong, Daoxiong]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan Chaoyang District, Beijing, 100124, China
[ 2 ] [Pan, Qi]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan Chaoyang District, Beijing, 100124, China
[ 3 ] [Zuo, Guoyu]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan Chaoyang District, Beijing, 100124, China
[ 4 ] [Deng, Wenbo]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan Chaoyang District, Beijing, 100124, China

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