Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot
Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot
复制标题
自主自行车机器人的陀螺仪平衡器增强运动控制
DOI：
10.1115/1.4063014
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Yi, Jingang
中科院分区：
文献类型：
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作者：
Wang, Pengcheng;Han, Feng;Yi, Jingang
自行车机器人（Bikebot）是一类欠驱动平衡机器人系统，需要同时执行轨迹跟踪和平衡控制任务。我们提出了一个自主自行车机器人的跟踪和平衡控制设计。自行车机器人动力学的外部-内部可转换结构被用来设计因果反馈控制，以实现跟踪和平衡任务。平衡流形用于定义和捕获平台平衡剖面以及与轨迹跟踪性能的耦合相互作用。为了实现完全自主导航，陀螺平衡器驱动与转向和速度控制集成，用于固定平台平衡和静止-移动切换。稳定性和收敛性分析，以保证控制性能。大量的实验验证和演示的自主控制设计。我们还比较了自主控制性能与人类骑实验和相似的行动策略之间发现。
Bikebot (ie, bicycle-based robot) is a class of underactuated balance robotic systems that require simultaneous trajectory tracking and balance control tasks. We present a tracking and balance control design of an autonomous bikebot. The external-internal convertible structure of the bikebot dynamics is used to design a causal feedback control to achieve both the tracking and balance tasks. A balance equilibrium manifold is used to define and capture the platform balance profiles and coupled interaction with the trajectory tracking performance. To achieve fully autonomous navigation, a gyrobalancer actuation is integrated with the steering and velocity control for stationary platform balance and stationary-moving switching. Stability and convergence analyses are presented to guarantee the control performance. Extensive experiments are presented to validate and demonstrate the autonomous control design. We also compare the autonomous control performance with human riding experiments and similar action strategies are found between them.