• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Nonlinear dynamics >Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control
【24h】

Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

机译：使用终端滑动模式控制在可变斜率倾斜平面上的非完整球形机器人的数学建模与控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Motion analysis and control of a pendulum-driven spherical robot (PDSR) on an inclined plane with a variable slope is investigated. Firstly, the mathematical model of a PDSR on a variable-slope inclined plane is deduced applying a Lagrangian formulation. Afterwards, in the presence of an unknown external disturbance, the terminal sliding mode control (TSMC) technique is employed to stabilize the robot on the inclined plane, while the plane is still moving. In other words, the terminal sliding mode disturbance observer is used to estimate the unknown disturbance. Based on the disturbance estimation, the TSMC scheme is established to control the single-input and single-output nonlinear system with control singularity and an unknown nonsymmetric control input saturation. In fact, a compound disturbance is defined and estimated, which includes the external disturbance, the control singularity and the unknown input saturation. Simulations are then conducted to validate the proposed approach for motion control of a PDSR on a variable-slope inclined plane with an unknown external disturbance and nonsymmetric input limits.
机译：研究了具有可变坡度的倾斜平面上的摆动球形机器人（PDSR）的运动分析和控制。首先，推导出可变斜率倾斜平面上的PDSR的数学模型应用拉格朗日配方。之后，在存在未知的外部干扰的情况下，采用终端滑动模式控制（TSMC）技术来稳定倾斜平面上的机器人，而平面仍在移动。换句话说，终端滑动模式干扰观察器用于估计未知的干扰。基于干扰估计，建立了TSMC方案，以控制具有控制奇异性的单输入和单输出非线性系统和未知的非对称控制输入饱和度。实际上，定义和估计复合扰动，其包括外部干扰，控制奇点和未知的输入饱和度。然后进行仿真以验证具有未知外部干扰和非对称输入限制的可变斜率倾斜平面上PDSR的提出方法。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号