| 两轮自平衡机器人的滑模控制方法研究 |
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| 引用本文： | 戴福全,阮玉镇.两轮自平衡机器人的滑模控制方法研究[J].福建工程学院学报,2016,0(4):376-381. |
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| 作者姓名： | 戴福全 阮玉镇 |
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| 作者单位： | 福建工程学院机械与汽车工程学院 |
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| 摘 要： | 基于拉格朗日函数法建立了机器人的动力模型，并基于滑模控制方法设计了机器人的鲁棒控制器，实现了机器人的平衡、转向和行走等控制任务。滑模控制器是一种鲁棒控制方法，当进入滑模态后，控制能够保证机器人在外力干扰和参数变化等情况下依旧保持控制性能。通过MATLAB和ADAMS联合仿真环境，控制器的控制效果得到了验证，证明了所设计的控制方法是可行的，能够达到所要求的控制性能。
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| 关 键 词： | 两轮自平衡机器人 动力学控制 滑模控制方法 动力学仿真 |
The control technology of two-wheeled self-balancing robot based on sliding mode control |
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| Dai Fuquan,Ruan Yuzhen.The control technology of two-wheeled self-balancing robot based on sliding mode control[J].Journal of Fujian University of Technology,2016,0(4):376-381. |
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| Authors: | Dai Fuquan Ruan Yuzhen |
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| Institution: | College of Mechanical and Automotive Engineering, Fujian University of Technology |
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| Abstract: | A dynamic robot model was established based on the Lagrangian function method and a robot robust sliding mode controller was designed to enable the control of the robot balance, steering and walking. The sliding mode controller belongs to robust control method that can maintain the control performance of the robot under external disturbances and parameter variation. The control effect of the robot controller was verified via the joint simulation of MATLAB and ADAMS, which indicates that the method presented is feasible and effective. |
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| Keywords: | two-wheeled self-balancing robot dynamic control sliding mode control dynamic simulation |
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