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With only one contact point with ground, the balance control problem of Single wheel robot (SWR) is still a big challenge for researchers. In this paper, a new nonlinear control algorithm—ADRC (active disturbance rejection control technique) was proposed. The integration simulation by ADAMS and MATLAB of flywheel balanced SWR is presented. The integrated platform provides an avenue for developing...
This paper proposes a new kind of disk-typed autonomous aerial robot, which can overcome some shortcomings of the structure of the ducted-fan aircraft. In order to derive the mathematical model of the disk-typed autonomous aerial robot (DAAR), the Newton-Euler equations have been employed. After that, this model is verified by numerical simulations, the outcome is in line with the physical fact. The...
The present micro aerial vehicle (MAV) is lack of maneuverability and security when operates in the restricted environment. To solve such problem, a rotor powered disk-type autonomous aircraft—Micro Aerial Robot(MAR) was designed, which adopts built-in blades and redundant actuators structure to enhance vehicle's safety and robustness, and adopts the inner and outer two rotor systems and disk-type...
This paper studies the balance control of two-wheeled self-balancing robot on the slope. The dynamic model was first established using Lagrange method, which was proved correct by the simulation results of its zero-state response and zero-input response. A set of balance equations were then obtained from the kinetic model, and the Lyapunov method was carried out to estimate its stability and controllability...
The lateral stabilization of single wheel robot is a challenge for researchers. We proposed a new mechanism to solve the problem by applying electromagnetic force. The mechanism was described briefly, and after dynamic analyses of the robot, its state space equation was obtained. The prototype was built in ADAMS, and integrated with MATLAB a PID controller and a LQR controller were performed respectively...
This paper proposes a dual-loop adaptive decoupling control method based on single neuron PID controller (DADC-SNPID), balancing the single wheeled robot. A unique mechanical and control hardware structure of single wheeled robot is designed and its simplified mathematical model is established using the Newton-Euler equations according to the actual parameters of the designed robot. A new balance...
According to movement balancing and position control problem of Self-Balancing Two-Wheeled Robot, a method based on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the MATLAB environment The simulation results shows that the robot can be balanced in fixed position well by this method, and also it have the ability to anti interference.
One new aspect, introduced in this paper, is the modeling of the human lumbar - a spring is added to the robot to imitate lumbar flexibility and curvature. The Bolzmann machine is used to control robot's posture based on study, and the flexible robot realizes posture control in the self-organizing capacity. The reasonable energy function is defined for the non-linear and strong coupling robot system,...
This paper presents an operant conditioning automata model (hereinafter referred to ??OCM??), and designs a bionic autonomous learning method which can be used to describe and simulate a bionic autonomous learning process. The model can be considered as an active learning permitting to select a better action according to psychology behavior propensity, and the aim is to learn to find the optimal action...
In this paper we study the dynamic modeling of a unicycle robot composed of a wheel, a frame and a disk. The unicycle can reach longitudinal stability by appropriate control to the wheel and lateral stability by adjusting appropriate torque imposed by the disk. The dynamic modeling of the unicycle robot is derived by Euler-Lagrange method. The stability and controllability of the system are analyzed...
This paper constructs an operant conditioning learning system based on fuzzy and probabilistic automata, which used for on-line self-learning of fuzzy rules. The learning system can learn its rules on line by interaction with environment, and achieve the best rule consequent. The probability can guarantee the global superiority of learning mechanism. The fuzzy inference can improve the robustness...
This paper constructs a learning probabilistic automata (PA) model with response of operant conditioning (OC) behavior, which used for simulating skinner-pigeon experiment. The PA model with OC is a form of animal learning in that it allows an agent to adapt its actions to gain maximally from the environment while only being rewarded for correct performance. The learning mechanism achieved by design...
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