Dynamic modeling and robust controller design for circular motion of a front-wheel drive bicycle robot
作者： Bin Xing , Lei Guo , Shimin Wei , Yuan Song
DOI: 10.1109/ICMA.2016.7558762
关键词: Control engineering 、 Robot calibration 、 Robust control 、 Robot control 、 Engineering 、 Cartesian coordinate robot 、 Circular motion 、 Robot kinematics 、 Mobile robot 、 Control theory 、 Robustness (computer science)
摘要: A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system established by analysis structure. Secondly, vector velocity each components expressed. And dynamic model obtained based on Appell Equation. Meanwhile, motion characteristics circular are analyzed. Thirdly, robust controller a front designed and simulated for motion. The simulation results prove that H ∞ control theory can meet requirements has good robustness.
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