Feedback Control with Equilibrium Revision for CMG-Actuated Inverted Pendulum

Ryadchikov, Igor; Sechenev, Semyon; Mikhalkov, Nikita; Biryuk, Andrei; Svidlov, Alexander; Gusev, Alexander; Sokolov, Dmitry; Nikulchev, Evgeny

doi:10.1007/978-981-13-9267-2_35

Cited by 6 publications

(4 citation statements)

References 9 publications

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“…When developing a new methodology, we relied on research [1]. The control synthesis technique used by the authors can be summarized in the following sequence of steps:…”

Section: Methodsmentioning

confidence: 99%

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Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation

Prutskii¹,

Mikhalkov²,

Vasiliev³

2022

J. Phys.: Conf. Ser.

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The article presents a synthesis technique for controlling the stabilization of a reverse pendulum, which does not require repeated code generation when making changes to the parameters of the control object. The problem of developing a feedback control system for a reverse pendulum controlled by a gyrodine is considered. The main tool for developing a control system is a combination of a real-time control system based on STM32 and an external computer based on ROS.

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“…When developing a new methodology, we relied on research [1]. The control synthesis technique used by the authors can be summarized in the following sequence of steps:…”

Section: Methodsmentioning

confidence: 99%

“…The control object in the form of an inverted pendulum was taken from the funds of the Laboratory of Robotics and Mechatronics of KubSU; its parameters are described in detail in the article [1]. The mechanical parameters of the CMG are presented in table 1.…”

Section: The Control Objectmentioning

confidence: 99%

Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation

Prutskii¹,

Mikhalkov²,

Vasiliev³

2022

J. Phys.: Conf. Ser.

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“…We also need to account for the perturbations in the equilibrium position due to the configurations of the legs, external disturbances etc. As proposed in [24]- [26], we add an integral action. To this end, we introduce two auxiliary variables e 1 and e 2 , defined as ėi := α i , i = 1, 2.…”

Section: B Keep It Uprightmentioning

confidence: 99%

Gyrubot: nonanthropomorphic stabilization for a biped

Mikhalkov

Prutskiy

Sechenev

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Demands on leg degrees of freedom and control precision for bipedal robotics are steadily increasing, especially for the tasks involving walking on a rough terrain. In this paper we present an alternative, as well as a working proof-of-concept. Meet gyrubot: a 5-link almost planar bipedal robot with a torso complemented by a nonanthropomorphic stabilization system, capable of blindly walking through uneven areas. Despite being almost planar, the robot does not need any support in the frontal plane! This paper describes the mechanical design and the architecture of the controllers. We also provide the experimental evidence of the ability of gyrubot to navigate across non-flat terrains.

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“…предъявить максимизирующую пару (ω, (•)) ∈ , ,ρ, ,[σ],µ , задающую профиль оптимального ротора и его оптимальную угловую скорость вращения В дальнейшем, в настоящей статье, будем считать, что ρ = 7 800 кг м 3 , [σ] = 147 МПа, = 200 ГПа, что соответствует стали. Зафиксируем = 2 кг, = 0, 12 м, что соответствует параметрам разрабатываемой установки [5]. Для упрощения обозначений зависимость от этих пяти параметров в дальнейшем будем опускать.…”

Section: рис 1 профиль ротора и его деформацияunclassified

Optimal Gyrodine Rotor Shape in the Class of Conical Bodies

Biryuk

Drobotenko

Ryadchikov

et al. 2021

MPCS

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The problem is to find the optimal shape of the gyrodine rotor and its angular rotation speed that maximizes the angular momentum relative to the axis of rotation at a fixed radius, mass and material of the rotor, taking into account the final strength of the material. The gyrodine rotor is a body of revolution, the thickness of which depends only on the distance r to the axis of rotation, r ∈ [0,R], where R is the radius of the rotor. The rotor surface is defined by rotating the curves z = ±z(r) around the axis. When the rotor is spinning, it undergoes deformation due to centrifugal forces. Normal stress fields appear: radial and annular. Assuming the rotor to be thin, deformations can be described by the functions of the radial displacement of the rotor points u(r). Stress fields can be expressed in terms of this function. The functions u(r) and z(r) are related by the equation of the elastically deformed state. This equation is supplied with the boundary conditions for the absence of radial stresses at r = R and the condition for the absence of displacement on the axis of rotation u(0) = 0. Using the numerical solution of the equation, the problem is solved for the class of conical rotors z(r) = a + br with two parameters a and b. The numerical method is used due to the fact that even in this relatively simple case the problem cannot be solved analytically. Several integrable cases are used to analyze the calculation error in the numerical solution of the problem. The dependence of the problem on the Poisson ratio μ ∈ (−1.1) is investigated, with the remaining parameters fixed. The gain in the angular momentum relative to a rotor of constant thickness is compared. The optimal steel conical rotor (μ = 0.3) is 2.068 times thicker at the center than at the edge. Its advantage in the angular momentum over the rotor of constant thickness is 3.2 %.

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Feedback Control with Equilibrium Revision for CMG-Actuated Inverted Pendulum

Cited by 6 publications

References 9 publications

Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation

Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation

Gyrubot: nonanthropomorphic stabilization for a biped

Optimal Gyrodine Rotor Shape in the Class of Conical Bodies

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