Modeling, analysis and compensation of disturbances during task execution of a wheeled inverted pendulum type assistant robot using a unified controller
Modeling, analysis and compensation of disturbances during task execution of a wheeled inverted pendulum type assistant robot using a unified controller
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使用统一控制器对轮式倒立摆辅助机器人任务执行过程中的干扰进行建模、分析和补偿
DOI：
10.1080/01691864.2015.1070106
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发表时间：
2015
影响因子：
2
通讯作者：
Takayuki Takahashi
中科院分区：
文献类型：
--
作者：
Luis Canete;Takayuki Takahashi
本文介绍了轮式倒摆式辅助机器人执行任务期间由模型变化、未知动力学和外力引起的干扰的建模和分析。补偿这些干扰及其影响使系统能够在不改变控制结构的情况下执行不同的任务。这导致了一个用于多个任务的统一控制器，使控制系统变得简单，同时又不牺牲鲁棒性。这些干扰的估计是使用扩展状态观测器（ESO）进行的，这是一种实用的观测器，因为它需要很少的系统信息。为了确保 ESO 的正确应用，对扰动下的平衡状态进行了分析。扰动模型和控制的有效性通过扰动和任务测试的结果得到验证。最后，给出了考虑扰动的系统的有界输入有界输出行为。
This paper presents the modeling and analysis of disturbances caused by model changes, unknown dynamics, and external forces during task execution of a wheeled Inverted PENdulum Type Assistant Robot. Compensating these disturbances and their effects results in the ability of the system to perform different tasks without changes in the control structure. This results in a unified controller for multiple tasks making the control system simple without sacrificing robustness. Estimation of these disturbances is performed using the extended state observer (ESO), which is a practical observer since it requires very little system information. To ensure proper application of the ESO, the analysis of the equilibrium states under disturbances was performed. The disturbance modeling and the effectiveness of the control are verified by results from disturbance and task tests. Finally, the bounded input bounded output behavior of the system with consideration to the disturbances is presented.