基于摩擦力的蛇形机器人运动控制:模型跟随伺服控制器的稳定性验证

IF 0.4 Q4 ENGINEERING, MULTIDISCIPLINARY Journal of Advanced Simulation in Science and Engineering Pub Date : 2022-01-01 DOI:10.15748/jasse.9.113

Shunsuke Nansai, Hiroshi Itoh

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引用次数: 0

摘要

．本文的目的是验证模型跟随伺服控制(MFSC)作为具有不可控扰动系统的稳定控制措施的有效性。设计了单连杆机械手的重力补偿控制系统和两轮机器人的头部位置控制系统。在重力补偿控制中，将重力加速度定义为不可控状态。在车头位置控制中，将打滑轮轴向摩擦力定义为不可控状态。通过数值仿真验证了MFSC作为不可控系统稳定控制系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller

. The purpose of this paper is to verify the e ﬀ ectiveness of Model Following Servo Control (MFSC) as a stabilizing control measure for systems with uncontrollable disturbances. Both the gravity compensation control system of the 1-link manipulator and the head-position control system of the two-wheeled robot is designed. In gravitational compensation control, gravitational acceleration is deﬁned as an uncontrollable state. In the head-position control, the frictional force in the axial direction of the skidding wheel is deﬁned as an uncontrollable state. The e ﬀ ectiveness of the MFSC as a stabilizing control system for systems containing uncontrollable states is veriﬁed via numerical simulations.

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Journal of Advanced Simulation in Science and Engineering ENGINEERING, MULTIDISCIPLINARY-

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