Spherical robot slope motion control method based on fuzzy sliding mode controller

A spherical robot, motion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor anti-interference ability and large dependence on modeling accuracy, to improve robustness, enhance Anti-interference ability, accurate control effect

Active Publication Date: 2013-11-27
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] The present invention aims to provide a method for controlling the slope motion of a spherical robot based on a fuzzy sliding mode controller, so as to solve

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  • Spherical robot slope motion control method based on fuzzy sliding mode controller
  • Spherical robot slope motion control method based on fuzzy sliding mode controller
  • Spherical robot slope motion control method based on fuzzy sliding mode controller

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Embodiment Construction

[0032] The present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings, but the embodiment of the present invention is not limited to the embodiments.

[0033] Such as figure 1 Shown in Fig. 3, the present invention comprises the following steps:

[0034] S1. The attitude information of the spherical robot on the slope surface measured by the inertial measurement device is used to obtain the current state information of the re-swing of the spherical robot, and the state information of the re-swing includes the swing angle parameter of the re-swing and the swing angular velocity parameter of the re-swing; The position and speed information of the spherical robot on the slope is measured by the odometer and the photoelectric encoder. The position and speed information of the spherical robot on the slope include the motion speed parameter of the spherical robot and the motion distance parameter of the spherical robot; ...

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Abstract

The invention provides a spherical robot slope motion control method based on a fuzzy sliding mode controller. The method comprises the following steps that (1) posture and repeated swinging state information of a spherical robot on a slope is measured by an inertial measuring unit, position and speed information of the robot on the slope is measured through a speedometer and a coder, and motion target position information sent by an upper computer is received by the robot through wireless transmission; (2) the received information is transmitted to a central processing chip through a serial port; (3) driving moment required by the spherical robot under the current state is worked out by the central processing chip through the fuzzy sliding mode controller according to the received information, and the robot is controlled to move in real time. The spherical robot slope motion control method based on the fuzzy sliding mode controller has the advantages that (2) fuzzy control reduces requirements for system modeling accuracy; (2) the fuzzy sliding mode controller improves control robustness; (3) the introduction of fuzzy control greatly increases system convergence rate, and solves the problem that an existing fuzzy controller is insufficient in adjustment precision.

Description

technical field [0001] The invention belongs to the field of motion control of mobile robots, in particular to a method for controlling motion of a spherical robot on a slope based on a fuzzy sliding mode controller. Background technique [0002] As a special type of mobile robot, spherical robots have many advantages compared with traditional wheeled and tracked robots, such as non-falling, zero-radius turning, and protection of internal structures, but the spherical shell also brings spherical robots. Slope and difficulty with obstacle course movement. As a kind of mobile robot, the climbing ability is an important indicator of its practical application. The insufficient climbing ability and the difficulty of climbing control also greatly limit the application of spherical robots in actual production and life. As one of the important motion modes, the climbing motion of spherical robots has also attracted the attention of many scholars at home and abroad. Bicchi et al. s...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
Inventor 孙汉旭张延恒贾庆轩肖寒张小飞赵伟于涛褚明陈刚
Owner BEIJING UNIV OF POSTS & TELECOMM
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