Adaptive robust control for the corner balancing Cubli system with uncertainties

doi:10.1139/tcsme-2021-0008

HFCAS OpenIR

	Adaptive robust control for the corner balancing Cubli system with uncertainties
	Huang, Kang 1,2; Li, Jiandong 1,2; Zhu, Zicheng 1,2; Yu, Biao3
	2022-03-02
发表期刊	TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING
ISSN	0315-8977
通讯作者	Yu, Biao(byu@hfcas.ac.cn)
摘要	The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB (TM).
关键词	Cubli system underactuated mechanical system constraints adaptive robust control uncertainties
DOI	10.1139/tcsme-2021-0008
关键词[WOS]	TRACKING CONTROL ; INVERTED-PENDULUM ; PERSPECTIVE ; DESIGN ; ROBOT
收录类别	SCI
语种	英语
资助项目	University Synergy Innovation Program of Anhui Province[GXXT-2019-031] ; Fundamental Research Funds for the Central Universities of China[PA2020GDSK0091]
项目资助者	University Synergy Innovation Program of Anhui Province ; Fundamental Research Funds for the Central Universities of China
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000788295200001
出版者	CANADIAN SCIENCE PUBLISHING
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/131489
专题	中国科学院合肥物质科学研究院
通讯作者	Yu, Biao
作者单位	1.Hefei Univ Technol, Sch Mech Engn, Hefei, Anhui, Peoples R China 2.Hefei Univ Technol, Anhui Key Lab Digital Design & Mfg, Hefei, Anhui, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Anhui, Peoples R China
推荐引用方式 GB/T 7714	Huang, Kang,Li, Jiandong,Zhu, Zicheng,et al. Adaptive robust control for the corner balancing Cubli system with uncertainties[J]. TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING,2022.
APA	Huang, Kang,Li, Jiandong,Zhu, Zicheng,&Yu, Biao.(2022).Adaptive robust control for the corner balancing Cubli system with uncertainties.TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING.
MLA	Huang, Kang,et al."Adaptive robust control for the corner balancing Cubli system with uncertainties".TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING (2022).