Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum Robot Based on DIT Parameterization

摘要：

This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.

关键词： Single-wheeled pendulum robot Model reduction Parameterization Posture stabilization Gain scheduling

作者: HongZhe Jin Jie Zhao Jizhuang Fan JangMyung Lee

作者单位: State Key Laboratory of Robotics and System,Science Garden of HIT,NO.2,Street YiKuang,District NanGa School of Electrical Engineering Pusan National Univercity,Busan,Korea 609735

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3511-3516

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）