论文标题
在柔软的表面上稳定轮式倒置的摆
Stabilization of the wheeled inverted pendulum on a soft surface
论文作者
论文摘要
我们研究了在水平，倾斜和软表面上比例综合衍生的控制器下的轮式倒置摆的动力学。动力系统的相肖像显示了控制控制的振荡区域和稳定性条件。特别是，我们研究了用于在软表面上移动的差分包含，并且在数学模型中发现了半稳定的固定溶液。由于机器人设备的数值建模或外部扰动的舍全误，该可准性看起来是模拟中的限制周期。
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase portraits of the dynamical systems. Particularly, we study a differential inclusion for moving on the soft surface, and we find semi-stable stationary solutions in our mathematical model. Due to rounding errors of the numerical modelling or external perturbations of robotics equipment the semistability looks as a limit cycle in simulations.
