TY - GEN
T1 - Control and Application of Tail-Like Mechanism in Self-balance Robot
AU - Zhang, Lufeng
AU - Ren, Xuemei
AU - Cheng, Yun
N1 - Publisher Copyright:
© 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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
UR - http://www.scopus.com/inward/record.url?scp=85092731723&partnerID=8YFLogxK
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
SP - 709
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 -