两轮平衡机器人的非线性控制设计

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677319

Sangtae Kim, SangJoo Kwon

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引用次数: 4

摘要

研究了两轮平衡机器人的非线性姿态控制方法。SDRE非线性最优控制主要由沿满足初始和最终状态边界条件的良好规划轨迹的前馈控制器和状态反馈控制器组成。本文讨论了给定非线性动力学模型的非线性控制输入，并给出了一些数值结果。

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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Nonlinear control design for a two-wheeled balancing robot

A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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