Adaptive robust control for the corner balancing Cubli system with uncertainties
文献类型：期刊论文
| 作者 | Huang, Kang1,2; Li, Jiandong1,2; Zhu, Zicheng1,2; Yu, Biao3
|
| 刊名 | TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING
 |
| 出版日期 | 2022-03-02 |
| ISSN号 | 0315-8977 |
| 关键词 | Cubli system underactuated mechanical system constraints adaptive robust control uncertainties |
| DOI | 10.1139/tcsme-2021-0008 |
| 通讯作者 | Yu, Biao(byu@hfcas.ac.cn) |
| 英文摘要 | 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 (TM). |
| WOS关键词 | TRACKING CONTROL ; INVERTED-PENDULUM ; PERSPECTIVE ; DESIGN ; ROBOT |
| 资助项目 | University Synergy Innovation Program of Anhui Province[GXXT-2019-031] ; Fundamental Research Funds for the Central Universities of China[PA2020GDSK0091] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| 出版者 | CANADIAN SCIENCE PUBLISHING |
| WOS记录号 | WOS:000788295200001 |
| 资助机构 | University Synergy Innovation Program of Anhui Province ; Fundamental Research Funds for the Central Universities of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/131488]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Yu, Biao |
| 作者单位 | 1.Hefei Univ Technol, Sch Mech Engn, Hefei, Anhui, Peoples R China 2.Hefei Univ Technol, Anhui Key Lab Digital Design & Mfg, Hefei, Anhui, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Anhui, Peoples R China |
| 推荐引用方式 GB/T 7714 | Huang, Kang,Li, Jiandong,Zhu, Zicheng,et al. Adaptive robust control for the corner balancing Cubli system with uncertainties[J]. TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING,2022. |
| APA | Huang, Kang,Li, Jiandong,Zhu, Zicheng,&Yu, Biao.(2022).Adaptive robust control for the corner balancing Cubli system with uncertainties.TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING. |
| MLA | Huang, Kang,et al."Adaptive robust control for the corner balancing Cubli system with uncertainties".TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING (2022). |
入库方式： OAI收割
来源：合肥物质科学研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。