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Alternative TitleVelocity Tracking Control of a Snake-like Robot with a Dynamics and Control Unified Model
郭宪; 马书根; 李斌; 王明辉; 王越超
Source Publication自动化学报
Indexed ByEI ; CSCD
EI Accession number20155001667242
Contribution Rank1
Funding Organization国家自然科学基金(61333016)资助~~
Keyword蛇形机器人 速度跟踪 动力学 奇异位形 微分几何
Other AbstractWhen tracking the velocity of a snake-like robot with passive wheels, the dynamics equations are complex and not convenient for controller design by the classical dynamics modeling method. In this paper, the dynamics equations are projected into the velocity distribution space and a dynamics and control unified model is derived which is easier for the controller designing. Since, singular postures always occur. When tracking the velocity of the snake-like robot, a disturbance velocity is introduced. Based on the disturbance velocity and the unified model, a velocity tracking control algorithm, avoiding the singular posture, is proposed. The torques can be derived from the inverse dynamics to control the snake-like robot. Numerical simulations and experiment for the velocity tracking of the desired velocity are presented to show that the proposed algorithm can track the desired velocity and validly avoid the singular postures at the same time.
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Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
郭宪,马书根,李斌,等. 基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究[J]. 自动化学报,2015,41(11):1847-1856.
APA 郭宪,马书根,李斌,王明辉,&王越超.(2015).基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究.自动化学报,41(11),1847-1856.
MLA 郭宪,et al."基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究".自动化学报 41.11(2015):1847-1856.
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