独轮车机器人的动力学建模与非线性控制

Dynamical Modeling of Unicycle Robot and Nonlinear Control

为了实现对于独轮车机器人非线性系统的姿态控制。以独轮车机器人车体的俯仰角度、横滚角度和航向角度作为广义坐标,基于拉格朗日定理提出了一种独轮车机器人的非线性动力学模型。并使用MIMO仿射非线性系统描述了该动力学模型。基于MIMO仿射非线性系统的精确线性化理论设计了独轮车机器人的控制算法,实现了对于输入的解耦。基于该动力学模型和控制算法搭建了仿真系统,仿真结果验证了动力学模型的正确性和反馈线性化控制算法的有效性。

The nonlinear characteristics in the unicycle robot dynamic system make the robot control much more difficult. Aiming at this problem, the pitching angle, the rolling angle and the yawing angle were taken as system generalized coordinates. A kind of nonlinear dynamic model of the unicycle robot was proposed based on Lagrange method. A multi-input and multi-output affine nonlinear system was proposed to describe the dynamic model And input-output exactitude linearization theory was applied to analyze the affine nonlinear system. Then a control algorithm was proposed to achieve the goal ofdecoupling and accurate linearization. Computer simulation verifies the validity of the dynamic model. The effect of the controller is testified by simulation experiments.