CN111381491B - 球形机器人控制系统及其设计方法和直线运动控制方法 - Google Patents
球形机器人控制系统及其设计方法和直线运动控制方法 Download PDFInfo
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- CN111381491B CN111381491B CN202010203139.1A CN202010203139A CN111381491B CN 111381491 B CN111381491 B CN 111381491B CN 202010203139 A CN202010203139 A CN 202010203139A CN 111381491 B CN111381491 B CN 111381491B
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- 238000000034 method Methods 0.000 title claims abstract description 40
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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CN114859951B (zh) * | 2022-04-17 | 2024-11-15 | 西北工业大学 | 一种单球平衡机器人姿态自平衡控制方法 |
CN116382077B (zh) * | 2023-03-28 | 2023-11-07 | 燕山大学 | 一种非完整约束轮式机器人固定时间控制器的设计方法 |
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CN103135549A (zh) * | 2012-12-21 | 2013-06-05 | 北京邮电大学 | 一种具有视觉反馈的球形机器人运动控制系统及运动控制方法 |
WO2015120388A1 (en) * | 2014-02-10 | 2015-08-13 | Cytori Therapeutics, Inc. | Regenerative cell therapy for central nervous system (cns) disorders and ptsd |
CN106873611B (zh) * | 2017-01-22 | 2019-10-29 | 北京航空航天大学 | 一种多通道线性自抗扰控制器的设计方法 |
CN107168308A (zh) * | 2017-04-27 | 2017-09-15 | 广东工业大学 | 一种智能避障可变速的无碳小车 |
CN107728635B (zh) * | 2017-11-13 | 2020-10-09 | 北京赛曙科技有限公司 | 一种摩托车型机器人的自动平衡装置及方法 |
CN108196445B (zh) * | 2017-12-11 | 2021-02-02 | 西北工业大学 | 一种基于双闭环自抗扰的水下机器人姿态与位置控制方法 |
CN108490765B (zh) * | 2018-01-27 | 2020-12-11 | 天津大学 | 一种带有抗积分补偿的自抗扰控制器的设计方法 |
CN110435784B (zh) * | 2019-07-04 | 2020-11-24 | 湖北商贸学院 | 一种全地形移动平台及其组成的机器人 |
CN110824919A (zh) * | 2019-10-31 | 2020-02-21 | 北京交通大学 | 一种直流电脑鼠自动控制方法和系统 |
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- 2020-03-20 CN CN202010203139.1A patent/CN111381491B/zh active Active
Non-Patent Citations (1)
Title |
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Analysis of the motion performance of a spherical mobile robot;Zhan Qiang, Jia Chuan, Ma Xiaohui, Chen Ming;《 Journal of Beijing university of aeronautics and astronautics》;20051231;第744-747页 * |
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