Dynamic Modeling And Control of A Kind of Unicycle Robot

被引：0

作者：

Guo, Lei ^{[1
]}

He, Kai ^{[1
]}

Song, Yuan ^{[1
]}

机构：

[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

Unicycle Robot; Appell Equations; Sliding Mode Control; Adams-Matlab Simulation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A kind of unicycle robot was designed. The mechanical structure can be divided into pitching subsystem and yaw subsystem. A kind of dynamic model was proposed based on Appell Equations. And the linear dynamic model of the unicycle robot was presented by the means of the linearization, ignoring the effects of the high-order items and the multiplications of coupling items. And a sliding mode controller was designed for the linear pitching subsystem. The Adams-Matlab simulation experiment was completed. The validity of the dynamic model and the controller were testified. The prototype of the robot was built.

引用

页码：6901 / 6905

页数：5

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