NDLI: Dynamic modeling and adaptive controller design for a wire-moving robot

Content Provider	IEEE Xplore Digital Library
Author	Guo Lei Mo Xinhu Song Yuan
Copyright Year	2015
Description	Author affiliation: Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China (Guo Lei; Mo Xinhu; Song Yuan)
Abstract	The wire-walking robot is a typical nonlinear and non-minimum phase system. A wire-moving robot based on the control of balancing pole is analyzed in this paper. According to kinematic and energy analysis, a dynamical model based on Appell Equations is built. To achieve the goal of self-balance, the controller based on feedback linearization and adaptive sliding mode control algorithm is proposed. Center manifold theory is introduced for stabilization of the system. The computer simulation based on MATLAB is achieved. And the validity of the dynamic model and the control algorithm are testified by the simulation results. The simulation results also show that the controller has good ability of signal tracking and anti-interference.
Starting Page	3022
Ending Page	3026
File Size	1769743
Page Count	5
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260104
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Manifolds Adaptation models Robot kinematics Interference wire-moving robot Center manifold theory Mathematical model Mobile robots Appell Equations self-balance
Content Type	Text
Resource Type	Article

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