论文部分内容阅读
针对一种由一个车轮驱动并控制前向平衡、并由电机驱动惯性轮形成反力矩来控制侧向平衡的独轮机器人系统,提出了一种分组分层滑模变结构控制方法。该方法根据机器人动力学模型特点,将系统看作两个单输入系统组合,并分别针对每个单输入系统设计分层滑模控制器,从而实现机器人的运动平衡控制。从理论上证明了各层滑动平面的渐近稳定性,并通过仿真实验验证了控制方法的有效性和鲁棒性。
Aiming at a unicycle robot system driven by one wheel and controlling the forward balance and the motor driven flywheel forming reaction torque to control the lateral balance, a hierarchical sliding mode variable structure control method is proposed. According to the characteristics of the robot kinematics model, this method considers the system as a combination of two single-input systems and designs a hierarchical sliding mode controller for each single-input system respectively to realize the robot’s balance control. The asymptotic stability of the sliding plane in each layer is theoretically proved, and the effectiveness and robustness of the control method are verified by simulation experiments.