Dual-loop adaptive decoupling control for single wheeled robot: Based on neural PID controller - 文章详情页

作者：

Ruan, Xiaogang (Ruan, Xiaogang.) | Wang, Qiyuan (Wang, Qiyuan.) | Yu, Naigong (Yu, Naigong.) (学者：于乃功)

收录：

EI Scopus

摘要：

This　paper　proposes　a　dual-loop　adaptive　decoupling　control　method　based　on　single　neuron　PID　controller　(DADC-SNPID),　balancing　the　single　wheeled　robot.　A　unique　mechanical　and　control　hardware　structure　of　single　wheeled　robot　is　designed　and　its　simplified　mathematical　model　is　established　using　the　Newton-Euler　equations　according　to　the　actual　parameters　of　the　designed　robot.　A　new　balance　and　motion　control　method　is　proposed　as　dual-loop　adaptive　decoupling　control　method　based　on　single　neuron　PID　controller　to　control　the　robot.　Results　of　simulation　and　physical　experiments　are　conducted　to　illustrate　effectiveness　of　the　designed　robot　system　and　its　controller　under　certain　conditions.　©2010　IEEE.

关键词：

Balancing Controllers Electric control equipment Motion control Proportional control systems Robots Three term control systems

作者机构：

[ 1 ] [Ruan, Xiaogang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 2 ] [Wang, Qiyuan]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 3 ] [Yu, Naigong]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China

通讯作者信息：

电子邮件地址：

adrxg@bjut.edu.cn

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