Design of state feedback control system for spherical robot based on state observer
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Design of state feedback control system for spherical robot based on state observer
Optics and Precision EngineeringVol. 15, Issue 6, Pages: 878-883(2007)
作者机构:
哈尔滨工业大学 宇航空间机构及控制研究中心,黑龙江 哈尔滨,150001
作者简介:
基金信息:
DOI:
CLC:TP242.6
Received:25 October 2006,
Revised:07 January 2007,
Published Online:30 June 2007,
Published:30 June 2007
稿件说明:
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YUE Ming, DENG Zong-quan. Design of state feedback control system for spherical robot based on state observer[J]. Optics and precision engineering, 2007, 15(6): 878-883.
DOI:
YUE Ming, DENG Zong-quan. Design of state feedback control system for spherical robot based on state observer[J]. Optics and precision engineering, 2007, 15(6): 878-883.DOI:
Design of state feedback control system for spherical robot based on state observer
The dynamic equation of a spherical robot was established
and a nonlinear affine system is derived based on energy dissipation Lagrangian equation. Linearization and affine transformation methods are used in the new equilibrium point to design control system by a powerful linear theory
according to the actual movements and theoretical simulated datum of robot. A state observer is built for estimating full state variables of system in real-time because some of state variables are immeasurability. The state feedback controller is designed and the simulation results prove the validity of the controller.