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Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot
Su Y(苏贇)1,2,3; Wang T(王挺)1,2; Zhang K(张凯)1,2; Yao C(姚辰)1,2; Wang, ZD(王志东)4
Source PublicationIEEE Access
Indexed ByEI
EI Accession number20200508102244
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China under Grant 2017YFC0822201 and Grant 2017YFC0822203.
KeywordAdaptive control center of gravity compensation nonlinear controller parameter adjustment self-balancing robot

We previously developed a novel composite wheel-leg-track explosive ordnance disposal (EOD) robot with high mobility, able to switch between a track or a self-balancing motion mode according to environmental conditions, named Scorpio. In this paper, we propose an adaptive nonlinear control algorithm for improving the stability of the robot in the self-balancing mode. First, a model of the dynamics of the robot was established, with which we designed the nonlinear cascade controller for combined balance and motion control. With our system, the attitude of the robot is estimated using a Kalman filtering algorithm. Based on this, an adaptive adjustment algorithm amends the parameters of the controller in real time according to the state of the robot, for improved stability. In addition, we formulated an adaptive zero-offset angle identification algorithm to compensate for deviations caused by changes to the robot's center of gravity (due to changes to its mechanical structure), ensuring that this stability could be maintained. Results of experiments conducted to verify their operation show that self-balancing control of Scorpio can be achieved with the proposed algorithms. 

Document Type期刊论文
Corresponding AuthorSu Y(苏贇)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing 100049, China
4.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
Recommended Citation
GB/T 7714
Su Y,Wang T,Zhang K,et al. Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot[J]. IEEE Access,2020,8:3751-3760.
APA Su Y,Wang T,Zhang K,Yao C,&Wang, ZD.(2020).Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot.IEEE Access,8,3751-3760.
MLA Su Y,et al."Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot".IEEE Access 8(2020):3751-3760.
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