Control and Application of Tail-Like Mechanism in Self-balance Robot

Lufeng Zhang; Xuemei Ren; Yun Cheng

doi:10.1007/978-981-15-8458-9_76

Control and Application of Tail-Like Mechanism in Self-balance Robot

Lufeng Zhang, Xuemei Ren^*, Yun Cheng

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a self-balance robot with tail-like mechanism and corresponding dynamic model. Unlike the self-balance vehicle which adjust the tilt angle using the wheel motor to control the balance, the balance of the self-balance robot in this paper is realized by controlling the tail-like mechanism. Firstly, an underactuated system model is established and we adopt an adaptive hierarchical sliding mode controller. The adaptive law is derived for the uncertainty estimation. Then, the system stability is proved based on Lyapunov function. Finally, the simulation of the controller for the system is presented to prove the effectiveness.

Original language	English
Title of host publication	Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II
Editors	Yingmin Jia, Weicun Zhang, Yongling Fu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	709-716
Number of pages	8
ISBN (Print)	9789811584572
DOIs	https://doi.org/10.1007/978-981-15-8458-9_76
Publication status	Published - 2021
Event	Chinese Intelligent Systems Conference, CISC 2020 - Shenzhen, China Duration: 24 Oct 2020 → 25 Oct 2020

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	706 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	Chinese Intelligent Systems Conference, CISC 2020
Country/Territory	China
City	Shenzhen
Period	24/10/20 → 25/10/20

Keywords

Sliding mode control
Tail-like mechanism
Underactuated system

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10.1007/978-981-15-8458-9_76

Cite this

Zhang, L., Ren, X., & Cheng, Y. (2021). Control and Application of Tail-Like Mechanism in Self-balance Robot. In Y. Jia, W. Zhang, & Y. Fu (Eds.), Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II (pp. 709-716). (Lecture Notes in Electrical Engineering; Vol. 706 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-15-8458-9_76

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title = "Control and Application of Tail-Like Mechanism in Self-balance Robot",

abstract = "This paper proposes a self-balance robot with tail-like mechanism and corresponding dynamic model. Unlike the self-balance vehicle which adjust the tilt angle using the wheel motor to control the balance, the balance of the self-balance robot in this paper is realized by controlling the tail-like mechanism. Firstly, an underactuated system model is established and we adopt an adaptive hierarchical sliding mode controller. The adaptive law is derived for the uncertainty estimation. Then, the system stability is proved based on Lyapunov function. Finally, the simulation of the controller for the system is presented to prove the effectiveness.",

keywords = "Sliding mode control, Tail-like mechanism, Underactuated system",

author = "Lufeng Zhang and Xuemei Ren and Yun Cheng",

note = "Publisher Copyright: {\textcopyright} 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2020 ; Conference date: 24-10-2020 Through 25-10-2020",

year = "2021",

doi = "10.1007/978-981-15-8458-9_76",

language = "English",

isbn = "9789811584572",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "709--716",

editor = "Yingmin Jia and Weicun Zhang and Yongling Fu",

booktitle = "Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II",

address = "Germany",

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Zhang, L, Ren, X & Cheng, Y 2021, Control and Application of Tail-Like Mechanism in Self-balance Robot. in Y Jia, W Zhang & Y Fu (eds), Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II. Lecture Notes in Electrical Engineering, vol. 706 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 709-716, Chinese Intelligent Systems Conference, CISC 2020, Shenzhen, China, 24/10/20. https://doi.org/10.1007/978-981-15-8458-9_76

Control and Application of Tail-Like Mechanism in Self-balance Robot. / Zhang, Lufeng; Ren, Xuemei; Cheng, Yun.
Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II. ed. / Yingmin Jia; Weicun Zhang; Yongling Fu. Springer Science and Business Media Deutschland GmbH, 2021. p. 709-716 (Lecture Notes in Electrical Engineering; Vol. 706 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Control and Application of Tail-Like Mechanism in Self-balance Robot

AU - Zhang, Lufeng

AU - Ren, Xuemei

AU - Cheng, Yun

PY - 2021

Y1 - 2021

N2 - This paper proposes a self-balance robot with tail-like mechanism and corresponding dynamic model. Unlike the self-balance vehicle which adjust the tilt angle using the wheel motor to control the balance, the balance of the self-balance robot in this paper is realized by controlling the tail-like mechanism. Firstly, an underactuated system model is established and we adopt an adaptive hierarchical sliding mode controller. The adaptive law is derived for the uncertainty estimation. Then, the system stability is proved based on Lyapunov function. Finally, the simulation of the controller for the system is presented to prove the effectiveness.

AB - This paper proposes a self-balance robot with tail-like mechanism and corresponding dynamic model. Unlike the self-balance vehicle which adjust the tilt angle using the wheel motor to control the balance, the balance of the self-balance robot in this paper is realized by controlling the tail-like mechanism. Firstly, an underactuated system model is established and we adopt an adaptive hierarchical sliding mode controller. The adaptive law is derived for the uncertainty estimation. Then, the system stability is proved based on Lyapunov function. Finally, the simulation of the controller for the system is presented to prove the effectiveness.

KW - Sliding mode control

KW - Tail-like mechanism

KW - Underactuated system

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U2 - 10.1007/978-981-15-8458-9_76

DO - 10.1007/978-981-15-8458-9_76

M3 - Conference contribution

AN - SCOPUS:85092731723

SN - 9789811584572

T3 - Lecture Notes in Electrical Engineering

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EP - 716

BT - Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II

A2 - Jia, Yingmin

A2 - Zhang, Weicun

A2 - Fu, Yongling

PB - Springer Science and Business Media Deutschland GmbH

T2 - Chinese Intelligent Systems Conference, CISC 2020

Y2 - 24 October 2020 through 25 October 2020

ER -

Control and Application of Tail-Like Mechanism in Self-balance Robot

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