Implementation of a Perceptual Controller for an Inverted Pendulum Robot
Implementation of a Perceptual Controller for an Inverted Pendulum Robot
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DOI：
10.1007/s10846-020-01158-4
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发表时间：
2020-09-01
影响因子：
3.3
通讯作者：
Watson, Simon
中科院分区：
文献类型：
--
作者：
Johnson, Thomas;Zhou, Siteng;Watson, Simon
感知控制理论（PCT）的理论认为，一个生物的行为是多种多样的，使他们的感知可以达到并保持一定的固定限制，尽管外部干扰。PCT的显著特点是受控变量是输入（感知，而不是系统输出）。本文提出了第一个直接比较PCT控制器的移动的机器人（两轮倒立摆平衡机器人）与经典的控制方法，LQR。仿真和实验验证结果表明，PCT控制器的性能与LQR控制器相当，具有更好的抗干扰能力。
Perceptual Control Theory (PCT) theorizes that a creature's behaviour is varied so that their perception can reach and maintain certain fixed limits, despite external disturbances. The distinguishing characteristic of PCT is that the controlled variables are the inputs (perceptions, as opposed to the system outputs). This paper presents the first direct comparison of a PCT controller for a mobile robot (a two-wheeled 'inverted pendulum' balancing robot) with a classical control method, LQR. Simulations and experimental validation results show that the performance of the PCT controller is comparable to the LQR controller and better at disturbance rejection.