北京邮电大学学报

  • EI核心期刊

北京邮电大学学报 ›› 2008, Vol. 31 ›› Issue (6): 54-57.doi: 10.13190/jbupt.200806.54.202

• 论文 • 上一篇    下一篇

球形巡检机器人的动态平衡控制

刘大亮, 孙汉旭, 贾庆轩,郑一力   

  1. (北京邮电大学 自动化学院, 北京 100876)
  • 收稿日期:2008-03-03 修回日期:2008-08-25 出版日期:2008-12-31 发布日期:2008-12-31
  • 通讯作者: 刘大亮

Dynamic Balance Control for a Spherical Inspection Robot

LIU Da-liang, SUN Han-xu, JIA Qing-xuan, ZHENG Yi-li   

  1. (School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China)
  • Received:2008-03-03 Revised:2008-08-25 Online:2008-12-31 Published:2008-12-31
  • Contact: LIU Da-Liang

摘要:

提出一种解决球形巡检机器人动态平衡控制的方法.利用微分同胚和输入变换建立级联非线性系统模型,设计了基于sigmoidal函数的状态反馈控制律.该方法能够保证闭环系统的状态全局渐近收敛到期望的邻域内.仿真和实验结果表明该方法可行.

关键词: 球形机器人, 巡检机器人, 动态平衡

Abstract:

A dynamic balance control method for a spherical inspection robot was presented. A cascade nonlinear system model was derived using input transformation and diffeomeorphism. Based on sigmoidal function, a state feedback controller was designed. This method guarantees globally asymptotic convergence of the state to the desired small neighborhood. Simulation results and experiments are carried out to verify the feasibility of this method.

Key words: spherical robot, inspection robot, dynamic balance

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