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Wire-moving robot system is a typical under-actuated system. The dynamic model of a wire-moving robot was analyzed in this paper. A sliding mode controller based on Hurwitz stability was designed for the robot to keep it balance on a tightrope. Then computer simulation based on MATLAB software was achieved to illustrate the validity and applicability of the controller. At last, though comparison with...
A Takagi-Sugeno (T-S) fuzzy model is proposed for a wire-moving robot in this paper. And a fuzzy controller is designed based on parallel distributed compensation (PDC) method. The stability of the T-S fuzzy system and the fuzzy controlling factors of the fuzzy controller are solved by linear matrix inequality (LMI) via MATLAB. And at last, computer simulation based on MATLAB software is achieved...
A wire-moving robot which can keep self-balancing through the control of balancing pole is analyzed in this paper. After kinematic and energy analysis, the nonlinear dynamic model is presented based on Routh method. To achieve the goal of self-balancing, a kind of cascade sliding mode controller is designed. The stability of the system is proved based on Lyapunov theorem. The computer simulation is...
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