TY - GEN
T1 - Dynamic adaptive equilibrium control for a self-stabilizing robot
AU - Li, Chaoquan
AU - Li, Fangxing
AU - Wang, Shusan
AU - Dai, Fuquan
AU - Bai, Yang
AU - Gao, Xueshan
AU - Kejie, Li
PY - 2010
Y1 - 2010
N2 - For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on adaptive and full state feedback control is designed for the equilibrium control. Under the adaptive controller, the height of system CG is estimated and amended in every control-cycle, and stable control effects are achieved along with the states feedback controller. Influence of the height of CG on the dynamic equilibrium is analyzed. The authors present the simulation as well as the model experiments, which show the self-stabilizing robot could be controlled smoothly by the mixed controller whether the height is changed by the loads or not and it can return to balance in approximately 2.5s when it is disturbed.
AB - For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on adaptive and full state feedback control is designed for the equilibrium control. Under the adaptive controller, the height of system CG is estimated and amended in every control-cycle, and stable control effects are achieved along with the states feedback controller. Influence of the height of CG on the dynamic equilibrium is analyzed. The authors present the simulation as well as the model experiments, which show the self-stabilizing robot could be controlled smoothly by the mixed controller whether the height is changed by the loads or not and it can return to balance in approximately 2.5s when it is disturbed.
UR - http://www.scopus.com/inward/record.url?scp=79952904116&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723395
DO - 10.1109/ROBIO.2010.5723395
M3 - Conference contribution
AN - SCOPUS:79952904116
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 609
EP - 614
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -