CAJ | 학술논문

针对高阶次、多变量、非线性、欠驱动的单轮机器人系统，提出了一种最优控制算法。首先采用机械方程推导出力学模型，通过将其在平衡位置处进行线性化，得到系统的线性化标称方程，然后用对称根轨迹(SRL)配置极点的控制方法实现了独轮机器人的动态稳定和平衡控制。仿真的结果验证了力学模型的正确性和反馈线性化控制算法的有效性。
침대고계차、다변량、비선성、흠구동적단륜궤기인계통，제출료일충최우공제산법。수선채용궤계방정추도출역학모형，통과장기재평형위치처진행선성화，득도계통적선성화표칭방정，연후용대칭근궤적(SRL)배치겁점적공제방법실현료독륜궤기인적동태은정화평형공제。방진적결과험증료역학모형적정학성화반궤선성화공제산법적유효성。
An symmetric root locus(SRL)pole placement approach is proposed for the high order, multivariate, typical nonlinear, underactuated unicycle robot system. The dynamical model is firstly established based on mechanical formulation. The tangent linearization of the model at its equilibrium yields to the linearization nominal model. Then using symmetric root locus(SRL)pole placement approach to achieve dynamic balancing and motion control of the unicycle robot. Computer simulation verifies the validity of the dynamic model. The effect of the control er is testified by simulation experiments.