Application of nonlinear feedback and quadratic regulators in amphibious robots

Liang ZHENG; Yu-ke MA

doi:10.3788/OPE.20192710.2199

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Application of nonlinear feedback and quadratic regulators in amphibious robots

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Application of nonlinear feedback and quadratic regulators in amphibious robots
- Optics and Precision Engineering Vol. 27, Issue 10, Pages: 2199-2206(2019)
- 作者机构：
  
  1.长春理工大学电子信息工程学院，吉林长春 130022
  2.吉林农业科技学院电气与信息工程学院，吉林吉林 132101
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20192710.2199
  CLC： TP242
- Received：06 June 2019，
  
  Accepted：19 July 2019，
  
  Published：25 October 2019
- 稿件说明：
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Liang ZHENG, Yu-ke MA. Application of nonlinear feedback and quadratic regulators in amphibious robots[J]. Optics and precision engineering, 2019, 27(10): 2199-2206.
DOI：

Liang ZHENG, Yu-ke MA. Application of nonlinear feedback and quadratic regulators in amphibious robots[J]. Optics and precision engineering, 2019, 27(10): 2199-2206. DOI： 10.3788/OPE.20192710.2199.

摘要

球形两栖机器人具有对称的结构和多自由度的运动状态特性，在环境适应性和运动稳定性上具有优势。本文介绍一种可以用于深海水下探测与救援的新型水陆两栖机器人控制系统的结构和建模方法，根据机器人的运动控制模式，推导出具有6个自由度的动态数学模型，并在动态模型的基础上，建立并评估了两种控制模型。第一种是基于二次型调节器(LQR)的控制器模型，第二种是基于非线性状态反馈(FL)的控制器模型。最后对两种控制模型进行水下实验验证及评估，从而证明两种控制器的有效性和优劣性。实验表明：非线性状态反馈系统在响应时间(LQR=67.5 s，FL=46.5 s)方面都优于有限时域LQR控制器，而LQR控制器在上升时间(LQR=24.5 s，FL=39.8 s)方面更加具有优势。

Abstract

Amphibious Spherical Robots (ASRs) possess high environmental adaptability and high motion stability owing to their symmetrical structural characteristics and multiple degrees of freedom in motion. This paper proposes a novel ASR control system that can be used in underwater detection and rescue and discusses its structure and modeling method. Depending on the motion control model of the robot

it can enable a dynamics system with 6 Ddegrees of Freedom (DOF). The mathematical model

based on the dynamic model

establishes and evaluates two versions of the control system. One is a controller model based on a Linear Quadratic Regulator (LQR) and the other is a motion equation of a control system based on nonlinear state Feedback Linearization (FL). Underwater control experiments were carried out on both control systems to prove their effectiveness and advantages. The experiments showed that the nonlinear state feedback system is superior to the finite time domain LQR controller in terms of corresponding durations of operation (LQR = 67.5 s

FL = 46.5 s) and fall times (LQR = 24.5 s

FL = 39.8 s).

关键词

Keywords

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