{"title":"自行车机器人的横向平衡控制研究","authors":"W. Zhuang, Ruixin Zhang, X. Su, Yonghua Huang","doi":"10.1145/3366194.3366328","DOIUrl":null,"url":null,"abstract":"In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Research on the Lateral Balance Control of a Bicycle Robot\",\"authors\":\"W. Zhuang, Ruixin Zhang, X. Su, Yonghua Huang\",\"doi\":\"10.1145/3366194.3366328\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.\",\"PeriodicalId\":105852,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3366194.3366328\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Research on the Lateral Balance Control of a Bicycle Robot
In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.