Low-order stabilization of two-wheeled mobile manipulator
| Autor: | Ledzilva Paurel Abia Corot, Yanlin He, Xinyi Yu, Lin-Lin Ou, Qing Xu |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Equilibrium point
0209 industrial biotechnology Engineering business.industry Mobile manipulator Linear model Control engineering 02 engineering and technology Whole systems Nonlinear system 020901 industrial engineering & automation Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Mobile telephony business Control parameters |
| Zdroj: | 2017 29th Chinese Control And Decision Conference (CCDC). |
| DOI: | 10.1109/ccdc.2017.7978489 |
| Popis: | A design approach of the low-order controller to stabilize a two-wheeled four-degree-of-freedom mobile manipulator is investigated in this paper. The two-wheeled mobile manipulator is known to be nonlinear in the relationship between each motor torque and motor angle. Exploiting the fact that the variation of each joint angle at the equilibrium point is very small, the relation between the input and output of the whole system which considers the time delay is firstly established and the linear model of the mobile manipulator at the equilibrium point is presented. In terms of the resultant model, a proportional-derivative (PD) and a disturbance observer (DOB) are both designed to stabilize the manipulator and attenuate the external disturbances respectively. Based on the extended Hermite-Biehler theorem, the set of the PD control parameters that ensures the stability of the whole system is determined. Then a new approach used to determine the bandwidth of the filter in the disturbance observer is presented. The DOB can not only enhance the robustness of the entire system against external disturbance but also compensate the model uncertainties. Finally, the simulation is carried out to verify the effectiveness of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|