The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A kind of unicycle robot was designed. The mechanical structure can be divided into pitching subsystem and yaw subsystem. A kind of dynamic model was proposed based on Appell Equations. And the linear dynamic model of the unicycle robot was presented by the means of the linearization, ignoring the effects of the high-order items and the multiplications of coupling items. And a sliding mode controller...
A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed....
A dynamic model and a sliding mode controller are researched based on a new type variable structure two-wheeled robot in this paper. Firstly, the structure of the robot is designed according to the movement characteristics. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the robot is obtained based on Appell Equation. Thirdly, a sliding mode controller...
Sliding mode controller of a two-wheeled robot is designed in this paper. To simplify the design of the controller, the dynamic model is divided into two independent subsystems: balance subsystem and direction subsystem. Cascade sliding mode controller is designed for the balance subsystem, its control purpose is to track the ideal pitch angle and angular velocity and make the angular velocities of...
A kind of dynamic model was proposed based on Appell equations. And the sliding mode controller was designed for the unicycle robot. The dynamic model of the unicycle robot was presented after the linearization, by ignoring the effects of the high-order terms and the multiplications of coupling terms. And the computer simulation including the controller for the pitching, the rolling and the yaw subsystem...
In this paper, we focus on the design of non-linear controller for the self-balancing unicycle robot, the robot models according to the Routh equation. On this basis, the RBF neural network self-adaption controller of the unicycle robot is proposed. The real prototype is built. And the validity of the mechanism is verified by experiments, the pitching and the rolling balance could be achieved by the...
A bicycle robot which can move straightly on its own is established in the paper. When moving with a constant speed, the bicycle can keep balancing by adjusting the frontbar only. The nonlinear dynamic model of bicycle robot is presented based on Routh method. The robot model is Simplified according to the state of bicycle robot. The roll angle and frontbar angle are taken as system generalized coordinates...
This paper focus on the dynamic modeling and the LQR and PID controllers for the self balancing unicycle robot. The mechanism of the unicycle robot is designed. The pitching and rolling balance could be achieved by the driving of the motor on the wheel and the balance weight on the body of robot. The dynamic equations of the robot are presented based on the Routh equation. On this basis, the LQR and...
The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the cascade sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and the cascade sliding-mode controller of multi-sliding surface was designed...
Aiming at the dynamics of a front-wheel drive bicycle, a precise and effective mathematical model was constructed by use of Kane dynamics equations in form of screw theory in this paper. Firstly, partial velocity matrixes were achieved by recursion derivation of velocities and angular velocities of links. Then, dynamical model was developed according to the derived partial velocity matrixes. And finally,...
Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a front-wheel drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding,...
Bicycle robots are such a kind of mobile robots subjected to nonholonomic constraints and under-actuated degree of freedom (DOF) simultaneously, and it is a common scenario for these robots to climb a slope. The research in this paper is focused on dynamic modeling and dynamic characteristics analysis of a front-wheel drive bicycle robot under the state of slope-climbing. The concepts of critical...
The bicycle robot is a natural unstable nonlinear system. Its inherent nonlinear and deeply coupling characters of bicycle robot make the problem of control it much more difficult. Taking the steering torque and the driving torque of rear wheel as system inputs, the goal of bicycle robot self balancing was achieved. The rolling angle and the steering angle were taken as system generalized coordinates...
This paper highlights dynamic modeling of a front-wheel drive bicycle robot by using Kane's method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot...
Aim at a kind of bicycle robot with front-wheel drive, stable-balancing motion is analyzed based on moment balance of inertial force and gravity in this paper. Kinematics of the robot is derived under presupposition of rolling without sliding of the two road wheels. Kinematics analysis revealed that, there are only three independent generalized speeds in the system, which can be one of the Euler Angular...
The dynamic model of bicycle robot is similar to be linear model when it is moving at a high speed. Aiming at the goal of balancing bicycle robot with high speed, a kind of linear dynamic model of bicycle robot was presented based on a nonlinear dynamic model of bicycle robot. The open-loop stability was analyzed based on the linear dynamic model. And the controllability and observeability of the...
Taking the steering torque as the input of system, a kind of steering control single-input single-output dynamic model for bicycle robot is presented based on Lagrange method. The nonlinear dynamic model was described as a SISO affine nonlinear system. Then the system was represented into the standard Byres-Isidori standard form base on the diffeomorphism transform theory. The system described with...
The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the fuzzy sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and a sliding-mode controller was designed with the method of variable structure...
In this paper, the linearized Vicsek's model will be considered. A sufficient condition will be established to guarantee the convergence of the agents' fly headings in large probability when the number of agents in the model is sufficiently large
The DFL (direct feedback linearization) method was applied to the bicycle robot nonlinear system. The dynamic model of the bicycle robot was presented based on Lagrange method. Then the dynamic model of the mechanical system is described as a SISO (single-input single-output) affine nonlinear system. The DFL compensation algorithm was presented. The poles of the equivalent linear model were placed...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.