System Design and Balance Control of a Bipedal Leg-wheeled Robot

2019 ◽  
Author(s):  
Chao Zhang ◽  
Tangyou Liu ◽  
Shuang Song ◽  
Max Q.-H. Meng
Keyword(s):  
System Design ◽  
Balance Control ◽  
Wheeled Robot

Advanced Proportional-Integral-Derivative Control Compensation Based on a Grey Estimated Model in Dynamic Balance of Single-Wheeled Robot

Axioms ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 326
Author(s):  
Mao-Lin Chen ◽  
Chun-Yen Chen ◽  
Chien-Hung Wen ◽  
Pin-Hao Liao ◽  
Kai-Jung Chen
Keyword(s):  
Mathematical Modeling ◽  
Control Method ◽  
Reference Model ◽  
Balance Control ◽  
Lagrange Equation ◽  
Linear Quadratic Regulator ◽  
Dynamic State ◽  
Linear Quadratic ◽  
Wheeled Robot ◽  
The One

This paper aims to design a one-wheeled robot as regards its pitch freedom and balance control on the one hand and to assess the application feasibility of the GM (1,1) swing estimation controller on the other. System control focuses mainly on one-wheeled robot stability, body swings in position, and speed control. Mathematical modeling and GM (1,1) prediction control are under investigation. The mathematical modeling is firstly conducted through referencing to the Newtonian mechanics and the Lagrange equation, from which the robot transfer function and state-space differential equation are derived. Next, the linear quadratic regulator is applied as the control rule at the balance point. Applying GM (1,1) to assess the robot gyro signal at a dynamic state is a discussion. Next, model reference estimation control is processed, and a mathematical model of the balance control method is completed. Finally, a simulation is conducted to verify the feasibility of the GM (1,1) estimation reference model. The linear quadratic regulator, which is credited with tenacity, can provide pitch swing and balance control of the one-wheeled robot.

Analysis of Kinematics and Dynamic Model and Structure Optimization of Wheeled Robot

2014 ◽  
Vol 602-605 ◽  
pp. 1194-1197
Author(s):  
Yun Du
Keyword(s):  
Performance Analysis ◽  
System Design ◽  
Dynamic Model ◽  
Structure Optimization ◽  
Supporting Structure ◽  
Wheeled Robot ◽  
And Performance

Kinematics and dynamic model are the foundation for system design and performance analysis, and are also the guarantee of controller practicability. The Kinematics and dynamic model of three-wheeled robot with two wheels driving are established in this paper. Three wheeled supporting structure is simple, but stability is relatively poor. So on two aspects structure optimization of the robot is completed to ensure support stability and movement flexibility.

Marine Gear Reducer Design Device of Lubricating Oil Temperature Control System

2014 ◽  
Vol 621 ◽  
pp. 365-371
Author(s):  
Yong Mei Wang ◽  
Xi Gui Wang
Keyword(s):  
Control System ◽  
Solid State ◽  
System Design ◽  
Temperature Control ◽  
Balance Control ◽  
Control Object ◽  
Lubricating Oil ◽  
Temperature Control System ◽  
Schematic Diagram ◽  
State Relay

Signal of PLC controller by PID operation after the output of numerical simulation between 0~1, and solid state relay can receive only signal, digital or switched on or off. Only connected the two, temperature control system can be realized. The experimental approach is to learn from PWM pulse width modulation technology, the numerical analog PID controller output into the heating time in a cycle, namely, solid state relay on time. By this method, the indirect control heating rod of equivalent power, the power output of the heating rod according to the control signal of controller output, so as to realize marine gear oil temperature PID regulation. This paper designs the control system used in the experiment. The temperature control experiment system; design of the electrical schematic diagram of the temperature control system, including two parts electrical schematic diagram of control circuit and main circuit of temperature control system design process. At the same time, the experimental scheme is designed. Analysis of the mechanism of temperature balance control object, and focus on the temperature within the experimental results are analyzed.

Model Learning for Two-Wheeled Robot Self-Balance Control

2019 ◽  
Author(s):  
Enbo Li ◽  
Haibo Feng ◽  
Haitao Zhou ◽  
Xu Li ◽  
Yanwu Zhai ◽  
...  
Keyword(s):  
Balance Control ◽  
Model Learning ◽  
Wheeled Robot

scholarly journals Trajectory Tracking Control System Design For Autonomous Two-Wheeled Robot

2018 ◽  
Vol 10 (3) ◽  
pp. 90 ◽  
Author(s):  
Nur Uddin
Keyword(s):  
Control System ◽  
System Design ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Initial Position ◽  
Control System Design ◽  
Trajectory Tracking Control ◽  
Wheeled Robot ◽  
Non Linear ◽  
The Right

A trajectory tracking control system design of an autonomous two-wheeled robot (TWR) is presented. The control system objective is to steer the TWR move on a desired trajectory in planar space. The TWR has two kinds of movement: moving forward/backward and turning to the right/left, where the movements are represented by a non-linear kinematics equation. Simplifying the trajectory tracking control system design, the non-linear kinematics equation is approximated by a linear kinematics equation. Linear quadratics regulator (LQR) method is applied to design the trajectory tracking control system. The designed control system is evaluated through computer simulation. Simulation results show that the designed control system is able to make the TWR track a desired trajectory that located 1.4 meter away from the TWR initial position within 3 seconds.

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