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为了实现对于独轮车机器人非线性系统的姿态控制。以独轮车机器人车体的俯仰角度、横滚角度和航向角度作为广义坐标,基于拉格朗日定理提出了一种独轮车机器人的非线性动力学模型。并使用MIMO仿射非线性系统描述了该动力学模型。基于MIMO仿射非线性系统的精确线性化理论设计了独轮车机器人的控制算法,实现了对于输入的解耦。基于该动力学模型和控制算法搭建了仿真系统,仿真结果验证了动力学模型的正确性和反馈线性化控制算法的有效性。
In order to realize the attitude control of the nonlinear system of a wheelbarrow robot. Taking the pitch angle, roll angle and heading angle of the body of a unicycle as the generalized coordinates, a nonlinear dynamics model of the unicycle robot is proposed based on the Lagrange theorem. The dynamical model is described using MIMO affine nonlinear system. Based on the precise linearization theory of MIMO affine nonlinear systems, the control algorithm of a wheelbarrow robot is designed to decouple the input. The simulation system is built based on the dynamic model and the control algorithm. The simulation results verify the validity of the dynamic model and the feedback linearization control algorithm.