Wheel-foot robot, balance control method and device thereof and storage medium
Wheel-foot robot, balance control method and device thereof and storage medium
- Neue Suche nach: YAN MENG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: ZHOU JIANGCHEN
- Neue Suche nach: YAN MENG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: ZHOU JIANGCHEN
The invention relates to the field of wheel-foot robots, in particular to a wheel-foot robot, a balance control method and device thereof and a storage medium. The method comprises the following steps: determining a stress model of the wheel-foot robot; determining a sliding mode surface of a wheel-foot robot system according to the stress model of the wheel-foot robot; determining an approaching law and a control law of the wheel-foot robot system according to the sliding mode surface; and controlling the balance of the wheel-foot robot according to a sliding mode controller comprising the sliding mode surface sum, the reaching law and the control law. Due to the fact that the sliding mode controller can apply the control force according to the system error and the control law, the system is pushed to the sliding mode face, the system can have high adaptability to uncertain external disturbance, the robustness of the wheel-foot robot system is improved, and the balance of the wheel-foot robot is improved.
本申请涉及轮足机器人领域，尤其涉及轮足机器人及其平衡控制方法、装置及存储介质。所述方法包括：确定所述轮足机器人的受力模型；根据所述轮足机器人的受力模型，确定轮足机器人系统的滑模面；根据所述滑模面确定所述轮足机器人系统的趋近律和控制律；根据包括所述滑模面和、所述趋近律和所述控制律的滑模控制器，控制所述轮足机器人的平衡。由于滑模控制器可以根据系统误差，按照控制律施加控制力，使系统推向滑模面，使得系统能够对于不确定的外部扰动具有较强的适应能力，从而提高了轮足机器人系统的鲁棒性，有利于提升轮足机器人的平衡性。
Dokumentinformationen
Wheel-foot robot, balance control method and device thereof and storage medium
轮足机器人及其平衡控制方法、装置及存储介质
2024-04-19
Patent
Elektronische Ressource
Chinesisch
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