Passivity-based controller design of two-wheeled self-balanced robot

Computer Engineering and Applications ›› 2015, Vol. 51 ›› Issue (5): 50-53.

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Passivity-based controller design of two-wheeled self-balanced robot

LUO Junzhi, YANG Wanli, LI Hongyan, LIU Yanxia

Department of Fundamental Courses, Academy of Armored Force Engineering, Beijing 100072, China

Online:2015-03-01 Published:2015-04-08

两轮自平衡机器人的无源控制器设计

罗俊芝，杨万利，李红燕，刘艳霞

装甲兵工程学院基础部，北京 100072

Abstract

Abstract: For two-wheeled self-balanced robot, the passivity-based controller is designed based on state-space model by using LMI. The sufficient condition is derived which keeps two-wheeled mobile robot balanced. Simulink result indicates that the passivity-based controller is effective to keep two-wheeled mobile robot balanced.

Key words: passivity control, Linear Matrix Inequality（LMI）, two-wheeled mobile robot

摘要： 以两轮自平衡机器人为研究对象，基于其状态空间模型，利用线性矩阵不等式的方法，设计两轮自平衡机器人平衡的无源控制器，并给出了两轮自平衡机器人无源控制器存在的充分条件。仿真结果表明，设计的无源控制器对于机器人的平衡是有效的。

关键词: 无源控制, 线性矩阵不等式（LMI）, 轮式机器人

LUO Junzhi, YANG Wanli, LI Hongyan, LIU Yanxia. Passivity-based controller design of two-wheeled self-balanced robot[J]. Computer Engineering and Applications, 2015, 51(5): 50-53.

罗俊芝，杨万利，李红燕，刘艳霞. 两轮自平衡机器人的无源控制器设计[J]. 计算机工程与应用, 2015, 51(5): 50-53.

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Passivity-based controller design of two-wheeled self-balanced robot

两轮自平衡机器人的无源控制器设计

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