Abstract
This paper investigates the application of hybrid control for an automatic balancing robot system subject to backlash effect. The developed controller is a type of sliding mode controller, refereed to as a switching controller, with respect to different situations i.e., whether the backlash is present in the system operation or not. The switching controller is further weighted by a tilt angle dependent weighting function, in order to enforce the linear controller at higher angles. The proposed solution is implemented and tested on a custom developed robot platform. The extensive tests and comparisons with other solutions show the proposed solution can lead to a very satisfactory anti-backlash performance, with an easy and cost-effective implementation.
Originalsprog | Engelsk |
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Titel | Proceedings of the 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) : SSRR |
Antal sider | 6 |
Udgivelsessted | Linkoping |
Forlag | IEEE Press |
Publikationsdato | 26 okt. 2013 |
Sider | 1-6 |
ISBN (Trykt) | 978-1-4799-0879-0 |
ISBN (Elektronisk) | 978-1-4799-0880-6 |
DOI | |
Status | Udgivet - 26 okt. 2013 |
Begivenhed | 11th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linköping, Sverige Varighed: 21 okt. 2013 → 26 okt. 2013 |
Konference
Konference | 11th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 |
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Land/Område | Sverige |
By | Linköping |
Periode | 21/10/2013 → 26/10/2013 |