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球形巡检机器人的动态平衡控制

DOI: 10.13190/jbupt.200806.54.202, PP. 54-57

Keywords: 球形机器人,巡检机器人,动态平衡

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Abstract:

提出一种解决球形巡检机器人动态平衡控制的方法.利用微分同胚和输入变换建立级联非线性系统模型,设计了基于sigmoidal函数的状态反馈控制律.该方法能够保证闭环系统的状态全局渐近收敛到期望的邻域内.仿真和实验结果表明该方法可行.

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