两轮自平衡机器人运动控制研究

轮式移动机器人是典型的不完整控制系统,其自身的不确定性影响控制的性能.以两轮自平衡机器人为研究对象,建立了机器人的运动学与动力学模型.利用多惯性传感器信息融合建立的基于T-S模糊模型的模糊控制器有效地解决了两轮自平衡机器人平衡控制的问题,并同时对轨迹跟踪的问题进行了探讨.仿真结果表明,通过多惯性传感器的信息融合建立的控制器对于机器人的平衡和跟踪问题是有效的,并在实际的实验中得到了验证.

Movement control of two-wheeled self-balance robot

The wheeled mobile robot is one of the well-know nonholonomic systems.Kinematic and dynamics models of a two-wheeled self-balance robot were established.Uncertainty of the robot influences the robotic performance of control.Through the data fusion of output information of inertial sensors(including accelerometer and gyroscope) and the T-S fuzzy model,the research of the balance and the trajectory tracking of the two-wheeled self-balance robot was completed.The proposed controllers can effectively solve both the tracking and balance problems of the robot.The simulation results indicate that the wheeled mobile robot’s balancing and tracking can be effectively controlled through the data fusion of the inertial sensor information.Practical experimental results validate the effectiveness of simulations.