球形巡检机器人的动态平衡控制  

Dynamic Balance Control for a Spherical Inspection Robot

作　　者：刘大亮[1] 孙汉旭[1] 贾庆轩[1] 郑一力[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《北京邮电大学学报》2008年第6期54-57,共4页Journal of Beijing University of Posts and Telecommunications

基　　金：国家"863计划"项目(2006AA04Z243);国家自然科学基金项目(50775013)

摘　　要：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.A dynamic balance control method for a spherical inspection robot was presented. A cascade nonlinear system model was derived using input transformation and diffeomeorphism. Based on sigmoidal function, a state feedback controller was designed. This method guarantees globally asymp- totic convergence of the state to the desired small neighborhood. Simulation results and experiments are carried out to verify the feasibility of this method.

关 键 词：球形机器人 巡检机器人 动态平衡 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]