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Active disturbance rejection motion control of spherical robot with parameter tuning
Industrial Robot ( IF 1.8 ) Pub Date : 2021-11-23 , DOI: 10.1108/ir-05-2021-0099
Manlu Liu 1 , Rui Lin 1 , Maotao Yang 1 , Anaid V. Nazarova 2 , Jianwen Huo 1
Affiliation  

Purpose

The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning.

Design/methodology/approach

This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID.

Findings

By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability.

Practical implications

The proposed method can be applied to the robot control field.

Originality/value

A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.



中文翻译:

带参数整定的球形机器人自抗扰运动控制

目的

球形机器人的低速驱动、非完整约束和强耦合等特点使其运动控制模型难以准确建立。为提高球形机器人在实际工程中的抗干扰性能,提出一种基于自抗扰控制(ADRC)的球形机器人运动控制器,并进行参数调整。

设计/方法/方法

考虑球壳、内框架和摆对球形机器人在旋转过程中运动的影响,建立了XK-I球形机器人的多体动力学模型。由于动态模型存在严重的耦合问题,采用线性化和解耦的方法构建运动控制状态方程。将状态方程与粒子群优化算法(PSO)相结合,设计了XK-I球形机器人PSO-ADRC具有参数整定功能的运动控制器。最后,进行实验以评估 PSO-ADRC 在实际案例中与 ADRC、PSO-PID 和 PID 相比的可行性。

发现

通过分析达到预期值所需时间、控制稳定性和达到预期值后标准差的波动范围,论证了PSO-ADRC相对于ADRC、PSO-PID和PID在速度和速度方面的优越性。抗干扰能力。

实际影响

该方法可应用于机器人控制领域。

原创性/价值

提出了一种球形机器人自抗扰运动控制的参数整定方法。根据实验结果,提高了球形机器人在不平整地面上运动的抗干扰能力。因此,它为配备传感器的球形机器人的自主环境监测提供了基础。

更新日期:2021-11-23
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