| As a typical mobile robot,single-wheel self-balancing robot,compared with other wheeled robots has only one contact point with the ground,it has many characteristics such as:flexible movement,simple structure and versatile application.In recent years,with the development of robot technology,self-balancing unicycle robot has also received a lot attention.How to establish precise mechanical model and design more optimized controller have even becoming hot spots.This paper focus on a single wheel self-balancing robot system with a top vertical inertia flywheel and a bottom walking wheel.Firstly,establishing the corresponding mechanical model,then,by analyzing the mechanical model of the system,a series of controllers are designed to study the motion control of the system.The main contents of this paper are as follows:1.The background and significance of the selected topics and some typical cases are described,the development process and research status of unicycle self-balancing robot are analyzed,some commonly used stability lemmas,LMI inequalities,Lyapunov stability theorem and fuzzy model are introduced.2.Aiming at the balance control problem of unicycle self-balancing robot system,an event-triggered finite-time controller with a trigger condition is designed.By using the event-triggered mechanism,the update number of this controller can be effectively reduced.Thus the burden on the controller will be reduced.Then Lyapunov function is designed,by using Lyapunov second theorem the stability of the system is proved,global finite time stable is proved for the system.Finally,the simulation results are given by using MATLAB to prove the effectiveness of the proposed method.3.Considering that the self-balancing unicycle robot has the characteristics of multi-coupled,nonlinear,multi-variable,according to the T-S fuzzy principle,the nonlinear system is divided into a series of local linear dynamic models,and the global fuzzy model of the system will be obtained by using defuzzification.Then the controller can be designed by using parallel distributed principle.By using the Lyapunov second theorem,the stability criteria are given in the form of linear matrix inequality.Finally,the simulation results are obtained by using MATLAB,the validity of the proposed method can be proved.4.Combining event-triggered finite-time controller with T-S fuzzy model,by using the Lyapunov second theorem,finite-time stability criteria of the unicycle robots system will be given.Finally,the simulation results are obtained by using MATLAB,the validity of the proposed method can be proved. |
