{"title":"具有不确定角点平衡Cubli系统的自适应鲁棒控制","authors":"K. Huang, Jiandong Li, Zicheng Zhu, Biao Yu","doi":"10.1139/tcsme-2021-0008","DOIUrl":null,"url":null,"abstract":"The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB™.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.8000,"publicationDate":"2022-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Adaptive robust control for the corner balancing Cubli system with uncertainties\",\"authors\":\"K. Huang, Jiandong Li, Zicheng Zhu, Biao Yu\",\"doi\":\"10.1139/tcsme-2021-0008\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB™.\",\"PeriodicalId\":23285,\"journal\":{\"name\":\"Transactions of The Canadian Society for Mechanical Engineering\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.8000,\"publicationDate\":\"2022-03-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transactions of The Canadian Society for Mechanical Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1139/tcsme-2021-0008\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of The Canadian Society for Mechanical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1139/tcsme-2021-0008","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Adaptive robust control for the corner balancing Cubli system with uncertainties
The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB™.
期刊介绍：
Published since 1972, Transactions of the Canadian Society for Mechanical Engineering is a quarterly journal that publishes comprehensive research articles and notes in the broad field of mechanical engineering. New advances in energy systems, biomechanics, engineering analysis and design, environmental engineering, materials technology, advanced manufacturing, mechatronics, MEMS, nanotechnology, thermo-fluids engineering, and transportation systems are featured.
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