Sliding mode control of a wire-moving robot based on Hurwitz stability

Mo, Xinhu; Song, Yuan

doi:10.1109/icinfa.2016.7831978

Cited by 3 publications

(4 citation statements)

References 5 publications

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“…Concretely, the maximum torques of 2 B would increase continuously, but the maximum torques of 3 B and 5 B would decrease at first and then increase slowly, and the trough torque was found at about =2.0 α . As a conclusion, the results showed that, if there the same desired trajectories of 2 ( ) q t , 3 ( ) q t were set, the action of the swinging arms would affect the input torques of 2 B , 3 B and 5 B , and with a certain reasonable feedback action of 5 q corresponding to that of 2 q , there would be a trough of the maximum torques. The conclusions would be useful when the balanced control strategies were designed.…”

Section: Inverse Dynamics Simulationsmentioning

confidence: 80%

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The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Huang¹,

Chen²,

Wang³

et al. 2017

dtetr

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Abstract. This paper focused on a single wheel robot that runs on a flexible wire, and the principal consideration was the influence of its swinging arms on the balanced dynamics of the system. The robot was designed with two swinging arms and a rotational pole to imitate a real human wire walker. Under the pure rolling condition of the single wheel, a dynamical model was developed for the system by Lagrange equation. With the model, balanced motions under the regulation of the rotational pole coorperating with the swinging arms were investigated. The inverse dynamics simulations showed that, the different swinging arms action would correspond to different driving input torques, but there would be a trough maximum torque at a certain feedback action of the swinging arms.

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Section: Inverse Dynamics Simulationsmentioning

confidence: 80%

“…proposed a two wheels wire-walking robot that was balanced with a mechanical gyroscope. While in [2,3,4,5,6], Lu etc. presented a wire-walking robot balancing by a rotating pole.…”

Section: Introductionmentioning

confidence: 99%

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Huang¹,

Chen²,

Wang³

et al. 2017

dtetr

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show abstract

“…Whereas c h must meet the Hurwitz requirement c h > 0 . 14 The tracking error e t ( i ) 15 is given as…”

Section: Mfa-based Adaptive Smc Control Schemementioning

confidence: 99%

Model-free-adaptive-based data-driven method for three-axis Gimbal control

Wang

Rana²

2020

Measurement and Control

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This study uses a three-axis Gimbal model to inertially stabilize a platform that can be used to feed smooth images from a camera. In this article, three-axis Gimbal performance analysis is presented. An inertial measurement unit responds to movement and a three-phase brushless DC motor with 14 poles and 12 coils is used to rule out vibrations and movement from the surroundings. The controller combines sliding-mode control and model-free-adaptive control to design a novel control method based on data, which can decrease the computational time and difficulty of a nonlinear system. Simulations on MATLAB prove the efficiency of the given method. The simulation results validate that the designed controller has improved position control than the traditional proportional integral derivative, model-free-adaptive control, and model-free-learning-adaptive control.

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“…Let the supporting frame be denoted as 1 B , the single wheel as 2 B , the swinging arms as 3 B , the link pole as 4 B and the rotational pole as 5 B . The coordinates settings of the robot are showed in Figure. O − e e e {0}is the global coordinate system fixed on the ground;…”

Section: A Coordination Settingsmentioning

confidence: 99%

Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

Huang

Chen²,

Wang

et al. 2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modeling and Simulation (AMMS 2017)

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Abstract-In order to investigate the principles of a wire walker who maintains balance by rotating or moving a pole left and right, a novel single wheel robot that can runs on a flexible wire was designed and its dynamics was studied. The robot features a couple of parallel swinging arms and a rotational pole. Under the precondition of pure rolling of the single wheel that runs on a flexible wire, a dynamical model for the system was developed by use of Lagrange equation. The results illustrated that the robot was an under-actuated system consisting of seven DOF (degree of freedom) and there was three driving-torque inputs in the system. By using the model, an inverse dynamics simulation of balanced moving was performed, and through the comparisons of the amount of driving work and system's energy, the results of the model analysis was testified.

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Sliding mode control of a wire-moving robot based on Hurwitz stability

Cited by 3 publications

References 5 publications

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Model-free-adaptive-based data-driven method for three-axis Gimbal control

Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

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