Attitude control for rapid robot with Human simulated intelligent control theory

Author

Yu, Miao ; Dong, Xiaomin ; Liao, Changrong ; Chen, Weimin ; Li, Zushu

Author_Institution

Key Lab. for Optoelectron. Technol. & Syst., Univ. of Chongqing, Chongqing

fYear

2008

fDate

25-27 June 2008

Firstpage

1976

Lastpage

1981

Abstract

It is very important to hold the wheeled robotpsilas attitude while running. The adaptive suspension system with magneto-rheological (MR) damper can optimize its attitude by providing continuously variable real-time damping control based on road profile. To address this problem, a control strategy with schema-based human simulated intelligent control (HSIC) theory is proposed and studied. According to a seven DOFs dynamic model, eight states of robotpsilas attitude are divided and relevant schemas are designed. The performances of the control system under two types of road excitations are evaluated by computer simulation. The results indicate that HSIC can achieve better attitude stability than LQG and passive system.

Keywords

attitude control; intelligent control; magnetorheology; mobile robots; robot dynamics; shock absorbers; vibration control; wheels; LQG; adaptive suspension system; attitude control; attitude stability; computer simulation; human simulated intelligent control theory; magnetorheological damper; passive system; rapid robot; wheeled robot attitude; Adaptive control; Adaptive systems; Damping; Humans; Intelligent control; Intelligent robots; Magnetic variables control; Mobile robots; Programmable control; Roads; Attitude control Robot; Human simulated intelligent control; Schema theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593228

Filename

4593228