Balancing of a spherical inverted pendulum with an omni-directional mobile robot

2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI:10.1109/CCA.2013.6662841

Sho-Tsung Kao, W. Chiou, Ming-Tzu Ho

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引用次数: 8

Abstract

A spherical inverted pendulum is a rod connected to a universal joint, which is attached to a horizontal movable base. The movable base is free to move on the plane acted on by a planar control force. It is a two-dimensional inverted pendulum. An omni-directional mobile robot is a special type of wheeled mobile robot that can perform translational movement along any desired path combined with any rotational movement. In this paper, we consider the problems of balancing a spherical inverted pendulum that is driven by an omni-directional mobile robot. A detailed dynamic model of the system is given for the control design and simulation study. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the spherical inverted pendulum system model is simplified to two decoupled one-dimensional inverted pendulum systems. A stabilizing controller based on sliding mode control is designed for each decoupled system. In addition, a linear-quadratic regulator controller based on a linearized system model is also designed for performance comparison. The performance of the two control strategies is investigated through experimental studies.

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球面倒立摆与全方位移动机器人的平衡

球形倒立摆是一根与万向节相连的杆，万向节连接在一个水平的活动基座上。可动基座在平面控制力的作用下在平面上自由移动。它是一个二维倒立摆。全向移动机器人是一种特殊类型的轮式移动机器人，它可以沿任意路径进行平移运动并结合任意旋转运动。本文研究了由全向移动机器人驱动的球面倒立摆的平衡问题。给出了系统的详细动态模型，用于控制设计和仿真研究。通过保留主要的非线性项，忽略高阶耦合项，将球面倒立摆系统模型简化为两个解耦的一维倒立摆系统。针对每个解耦系统设计了基于滑模控制的稳定控制器。此外，还设计了基于线性化系统模型的线性二次型调节器控制器进行性能比较。通过实验研究了这两种控制策略的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE International Conference on Control Applications (CCA)

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