Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

Ling Yu Sun; Jian Hua Zhang; Xiao Jun Zhang

doi:10.4028/www.scientific.net/AMR.644.123

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 644Stability Control and Simulation of Wheel-Legged...

Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

Abstract:

The wheel-legged mobile robot in a complex three-dimensional environment has strong through capacity .Study is very critical for the stability of the control of their body systems. In this paper , based on analysis of the structure of wheel-legged mobile robot designed, the stability is evaluated by the use of (Effective Mass Center) EMC , and the stability domain is established accordingly. A fuzzy adaptive PID control method is created , and verified by ADAMS and MATLAB co-simulation . Simulation results show that the robot in different terrestrial environment, can maintain good stability.

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Periodical:

Advanced Materials Research (Volume 644)

Pages:

123-128

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.644.123

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Online since:

January 2013

Authors:

Ling Yu Sun, Jian Hua Zhang, Xiao Jun Zhang

Keywords:

Fuzzy Adaptive PID Control, Simulation, Stability, Wheel-Legged Mobile Robot

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References

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