{"title":"前轮驱动自行车机器人圆周运动动力学建模与鲁棒控制器设计","authors":"Bin Xing, Lei Guo, S. Wei, Yuan Song","doi":"10.1109/ICMA.2016.7558762","DOIUrl":null,"url":null,"abstract":"A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H∞ robust control theory can meet the control requirements and has good robustness.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic modeling and robust controller design for circular motion of a front-wheel drive bicycle robot\",\"authors\":\"Bin Xing, Lei Guo, S. Wei, Yuan Song\",\"doi\":\"10.1109/ICMA.2016.7558762\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H∞ robust control theory can meet the control requirements and has good robustness.\",\"PeriodicalId\":260197,\"journal\":{\"name\":\"2016 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2016.7558762\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2016.7558762","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic modeling and robust controller design for circular motion of a front-wheel drive bicycle robot
A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H∞ robust control theory can meet the control requirements and has good robustness.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
