Single-wheel robots with yaw ability - 文章详情页

作者：

Zhu, X.-Q. (Zhu, X.-Q..) | Ruan, X.-G. (Ruan, X.-G..) | Sun, R.-Y. (Sun, R.-Y..) | Wang, X. (Wang, X..) | Wei, R.-Y. (Wei, R.-Y..)

收录：

Scopus PKU CSCD

摘要：

There　are　some　mistakes　in　the　state　eqution　derived　by　the　dynamic　equation　by　omitting　many　coupling　factors　for　the　sake　of　simpleness,　which　is　not　consistent　with　the　practice,　since　the　system　is　not　controllable.　Based　on　the　dynamic　equation,　and　combined　with　the　practice,　this　paper　gives　out　the　modified　state　equation,　making　sure　that　it　is　controlable.　A　LQR　controller　is　designed　to　stabilize　the　single-wheel　robot　(SWR)　and　to　make　it　yaw.　To　test　the　robustness　of　the　system,　two-step　disturbances　were　applied　on　the　lateral　and　longitudinal　direction,　respectively.　Both　the　simulation　and　the　experiment　results　verify　the　modified　state　equation,　which　lays　the　fundation　for　further　advanced　control　algrothim　to　be　performed　on　the　SWR.

关键词：

Robustness; Single-wheel robot (SWR); State space equation; Yaw

作者机构：

[ 1 ] [Zhu, X.-Q.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Zhu, X.-Q.]Centre for Intelligent Machine, McGill University, Montreal H3A 0C3, Canada
[ 3 ] [Ruan, X.-G.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Sun, R.-Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 5 ] [Wang, X.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 6 ] [Wei, R.-Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

通讯作者信息：

[Ruan, X.-G.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

电子邮件地址：

adrxg@bjut.edu.cn

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