两轮自平衡机器人的动力学建模与模糊进化极点配置控制

基金项目: 国家自然科学基金资助项目(51175397，51105290)

详细信息

Dynamical Modeling and Fuzzy Evolutionary Pole Placement Control for a Two-wheeled Self-balancing Robot

摘要: 针对两轮驱动的自平衡机器人（TWSBR）系统，提出了一种模糊进化型极点配置（FEPP）控制方法．采用拉格朗日方法进行了两轮自平衡机器人的动力学建模，通过将其在平衡位置进行微偏线性化，得到了系统的线性化标称模型．对该6阶欠驱动系统设计了FEPP控制器，分别实现了两轮自平衡机器人的动态镇定和行走控制，仿真和实验结果验证了所提出的控制算法在处理欠驱动、不稳定、多变量耦合系统中的有效性．
- 自平衡机器人 /
- 模糊控制 /
- 极点配置 /
- 欠驱动系统
Abstract: A fuzzy evolutionary pole placement (FEPP) approach is proposed for the two-wheeled self-balancing robot (TWSBR) system. The dynamical model of the TWSBR is firstly established based on Lagrangian formulation. The tangent linearization of the model at its equilibrium yields to the linearization nominal model. For the sixth-order underactuated system, the FEPP controllers are synthesized to achieve dynamic balancing and motion control of the TWSBR. Simulation and experiment results verify the effectiveness of the FEPP control strategy in dealing with underactuated, unstable and multi-variable coupled systems.
- self-balancing robot /
- fuzzy control /
- pole placement /
- underactuated system