novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.21.312-320novtexmech-806Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSРазработка адаптивной системы управления балансирующим роботом на основе второго метода Ляпунова с переменным шагом настройкиOn Development of Two-Wheeled Balancing Robot Adaptive Control System on Basis of Second Lyapunov Approach with Tunable Step SizeГлущенкоА. И.GlushchenkoA. I.
Старый Оскол
strondutt@mail.ruПетровВ. А.PetrovV. A.
Старый Оскол
79040882508@ya.ruЛасточкинК. А.LastochkinK. A.
студент,
Старый Оскол
lastconst@yandex.ruСтарооскольский технологический институт им. А. А. Угарова (филиал) федерального государственного автономного образовательного учреждения высшего образования "Национальный исследовательский технологический университет "МИСиС"РоссияAutomated and information control systems department Stary Oskol technological institute n.a. Ugarov (branch) National University of Science and Technology "MISIS"Russian Federation202008052020215312320Copyright © Commercial Publisher «New Technologies», 20202020Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/806балансирующий роботадаптивное управлениепараметрическая адаптацияLQ-регуляторэталонная модельвторой метод Ляпуновашаг настройкиинтегрально-квадратичный показатель качестваbalancing robotadaptive controlparametric adaptationLQ regulatorreference modelsecond Lyapunov approachstep sizeintegral quadratic transient quality indexРабота выполнена при поддержке Российского фонда фундаментальных исследований (грант 18-47-310003-р_а).This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)ReferencesФормальский А. М. Управление движением неустойчивых объектов. М.: Физматлит, 2012. 232 с.Formal’skij А. M. Motion control of unstable objects, Moscow, Fizmatlit, 2012, 232 p. (in Russian).Li Z., Yang C., Fan L. Advanced control of wheeled inverted pendulum systems. Springer Science & Business Media, 2012.Li Z., Yang C., Fan L. Advanced control of wheeled inverted pendulum systems, Springer Science & Business Media, 2012, 217 p.Sung H. C. Balancing Robot Control and Implementation. Master of science thesis. Texas A&M University, 2015. 73 p.Sung H. C. Balancing Robot Control and Implementation. Master of science thesis, Texas A&M University, 2015, 73 p.Prasad L. B., Tyagi B., Gupta H. O. Optimal control of nonlinear inverted pendulum system using PID controller and LQR: performance analysis without and with disturbance input // International Journal of Automation and Computing. 2014. Vol. 11, № 6. P. 661—670.Prasad L. B., Tyagi B., Gupta H. O. Optimal control of nonlinear inverted pendulum system using PID controller and LQR: performance analysis without and with disturbance input, International Journal of Automation and Computing, 2014, vol. 11, no. 6, pp. 661—670.Chan R. P.M., Stol K. A., Halkyard C. R. Review of modeling and control of two-wheeled robots // Annual Reviews in Control. 2013. Vol. 37, № 1. P. 89—103.Chan R. P.M., Stol K. A., Halkyard C. R. Review of modeling and control of two-wheeled robots, Annual Reviews in Control, 2013, vol. 37, no. 1, pp. 89—103.Ким Д. П. Теория автоматического управления. Т. 2: Многомерные, нелинейные, оптимальные и адаптивные системы. М.: Физматлит, 2007. 440 с.Kim D. P. Automatic control theory. Vol. 2: Multidimensional, nonlinear, optimal and adaptive systems, Moscow, Fizmatlit, 2007, 440 p. (in Russian).Бобцов А. А., Никифоров В. О., Пыркин А. А. Методы адаптивного и робастного управления нелинейными объектами в приборостроении. СПб.: НИУ ИТМО, 2013. 277 c.Bobtsov А. А., Nikiforov V. O., Pyrkin А. А. Methods of adaptive and robust control of nonlinear objects in instrument engineering, Saint Petersburg, NIU ITMO, 2013, 277 p. (in Russian).Astrom K. J., Wittenmark B. Adaptive control. Courier Corporation, 2013.Astrom K. J., Wittenmark B. Adaptive control, Courier Corporation, 2013.Khalil H. K. Nonlinear control. New York: Pearson, 2015. P. 33—45.Astrom K. J., Wittenmark B. Adaptive control, Courier Corporation, 2013.Павлов Б. В., Соловьев И. Г. Системы прямого адаптивного управления. М.: Наука, 1989. C. 136.Khalil H. K. Nonlinear control, New York, Pearson, 2015, pp. 33—45.Zhang D., Wei B. A review on model reference adaptive control of robotic manipulators // Annual Reviews in Control. 2017. Vol. 43. P. 188—198.Khalil H. K. Nonlinear control, New York, Pearson, 2015, pp. 33—45.Parks P. Liapunov redesign of model reference adaptive control systems // IEEE Transactions on Automatic Control. 1966. Vol. 11. № 3. P. 362—367.Pavlov B. V., Solov’ev I. G. Systems of direct adaptive control, Moscow, Nauka, 1989, 136 p. (in Russian).Аксенов Г. С., Фомин В. Н. Синтез адаптивных регуляторов на основе метода функции Ляпунова // Автоматика и телемеханика. 1982. № 6. С. 126—137.Pavlov B. V., Solov’ev I. G. Systems of direct adaptive control, Moscow, Nauka, 1989, 136 p. (in Russian).Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock // AIAA Guidance, Navigation, and Control Conference and Exhibit. 2004. P. 1—17.Zhang D., Wei B. A review on model reference adaptive control of robotic manipulators, Annual Reviews in Control, 2017, vol. 43, pp. 188—198.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings // Journal of Guidance, Control, and Dynamics. 1995. Vol. 18, № 1. P. 25—30.Zhang D., Wei B. A review on model reference adaptive control of robotic manipulators, Annual Reviews in Control, 2017, vol. 43, pp. 188—198.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT. Cybernet Sys. Co., Ltd, 2008.Zhang D., Wei B. A review on model reference adaptive control of robotic manipulators, Annual Reviews in Control, 2017, vol. 43, pp. 188—198.Глущенко А. И., Петров В. А., Ласточкин К. А. О применении оперативного обучения для нейросетевого регулятора при управлении двухколесным балансирующим роботом // Системы управления и информационные технологии. 2018. № 3(73). С. 27—32.Parks P. Liapunov redesign of model reference adaptive control systems, IEEE Transactions on Automatic Control, 1966, vol. 11, no. 3, pp. 362—367.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot // 2018 International Russian Automation Conference (RusAutoCon). IEEE, 2018. P. 1—6.Parks P. Liapunov redesign of model reference adaptive control systems, IEEE Transactions on Automatic Control, 1966, vol. 11, no. 3, pp. 362—367.Zhou K., Doyle J. C., Glover K. Robust and Optimal Control. Prentice Hall, 1996.Parks P. Liapunov redesign of model reference adaptive control systems, IEEE Transactions on Automatic Control, 1966, vol. 11, no. 3, pp. 362—367.Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Аksenov G. S., Fomin V. N. Synthesis of adaptive controllers based on the Lyapunov function method, Аvtomatika i telemekhanika, 1982, no. 6, pp. 126—137 (in Russian).Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Calise A. J., Shin Y., Johnson M. D. A Comparison Study of Classical and Neural Network Based Adaptive Control of Wing Rock, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004, pp. 1—17.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Singh S. N., Yirn W., Wells W. R. Direct adaptive and neural control of wing-rock motion of slender delta wings, Journal of Guidance, Control, and Dynamics, 1995, vol. 18, no. 1, pp. 25—30.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Yamamoto Y. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT, Cybernet Systems Co., Ltd, 2008, 65 p.Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko А. I., Petrov V. А., Lastochkin K. А. On application of online training for neural network controller of two-wheeled balancing robot, Sistemy upravleniya i informatsionnye tekhnologii, 2018, no. 3 (73), pp. 27—32 (in Russian).Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Glushchenko A. I., Petrov V. A., Lastochkin K. A. On Development of Neural Network Controller with Online Training to Control Two-Wheeled Balancing Robot, 2018 International Russian Automation Conference (RusAutoCon). — IEEE, 2018, pp. 1—6.Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)Zhou K., Doyle J. C., Glover K. Robust and Optimal Control, Prentice Hall, 1996, 146 p. Acknowledgements: This work was supported by the Russian Foundation for Basic Research (grant no. 18-47-310003-р_а)
The authors declare that there are no conflicts of interest present.