基于状态补偿和速度前馈的球形机器人鲁棒伺服线性二次调节控制器：理论和实验验证

IF 2.3 4区计算机科学 Q2 Computer Science

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI:10.1177/17298806231153229

Yixu Wang, Yifan Liu, Xiaoqing Guan, Tao Hu, Ziang Zhang, You Wang, Jie Hao, Guang Li

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引用次数: 1

摘要

关于球形机器人的横向运动的研究很少。针对横向运动控制精度低的问题，本文提出了一种新的算法。建立了单个横向运动模型，得到了线性二次调节器在无限时域中的最优解。针对纵向速度和横向角度耦合、控制精度低的问题，进行了状态补偿和速度前馈，提出了一种改进的鲁棒伺服线性二次调节器控制算法。实验表明，该横向控制算法对速度和横向角的变化具有较强的适应性和鲁棒性，控制效果稳定可靠。

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Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification

There are few studies on the lateral motion of spherical robots. In this article, a new algorithm is proposed to solve the problem of low control accuracy of the lateral motion. A single lateral motion model is established, and the optimal solution of the linear quadratic regulator in infinite time domain is obtained. Aiming at the problems of longitudinal velocity and lateral angle coupling and low control precision, state compensation and velocity feedforward are carried out, and an improved robust servo linear quadratic regulator control algorithm is proposed. Experiments show that the proposed lateral control algorithm has strong adaptability and robustness to changing speeds and lateral angles, and the control effect is stable and reliable.

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来源期刊

International Journal of Advanced Robotic Systems ROBOTICS-

CiteScore

6.50

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.