67038

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Доклад

Название: 

Development of Balancing Robot Control System on the Basis of the Second Lyapunov Method with Setpoint-Adaptive Step Size

Электронная публикация: 

Да

ISBN/ISSN: 

978-172816700-8

DOI: 

10.1109/CSCMP45713.2019.8976875

Наименование конференции: 

  • 21st International scientific conferences "COMPLEX SYSTEMS: CONTROL AND MODELING PROBLEMS" (CSCMP-2019, Samara)

Наименование источника: 

  • Proceedings of the 21st International scientific conferences "COMPLEX SYSTEMS: CONTROL AND MODELING PROBLEMS" (CSCMP-2019, Samara)

Обозначение и номер тома: 

Т. 2019

Город: 

  • Самара

Издательство: 

  • IEEE

Год издания: 

2019

Страницы: 

290-295, https://ieeexplore.ieee.org/document/8976875
Аннотация
The aim of this research is to develop an adaptive control system of a two-wheeled balancing robot based on a reference model and the second Lyapunov approach. Solving this problem, the following questions are considered: 1) a mathematical model of the robot reference dynamics is developed, 2) using the optimal control theory, a calculation of LQ controller parameters is made, 3) applying the second Lyapunov method, an algorithm to adjust the parameters of such controller is proposed. The step size is calculated in accordance with the proposed formula and depends on the current and previous setpoint values of one of the robot state coordinates. A real balancing robot and its model are used to conduct experiments, over the course of which the mass of the robot is increased by several times. The obtained results show that, despite the robot non-stationarity, the developed adaptive control system is able to follow the reference model output keeping the transient quality close to the desired one.

Библиографическая ссылка: 

Глущенко А.И., Петров В.А., Ласточкин К.А. Development of Balancing Robot Control System on the Basis of the Second Lyapunov Method with Setpoint-Adaptive Step Size / Proceedings of the 21st International scientific conferences "COMPLEX SYSTEMS: CONTROL AND MODELING PROBLEMS" (CSCMP-2019, Samara). Самара: IEEE, 2019. Т. 2019. С. 290-295, https://ieeexplore.ieee.org/document/8976875.

Публикация имеет версию на другом языке или вышла в другом издании, например, в электронной (или онлайн) версии журнала: 

Да

Связь с публикацией: