Chaoquan Li

Dynamic adaptive equilibrium control for a self-stabilizing robot

For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on adaptive and full state feedback control is designed for the equilibrium control. Under the adaptive controller, the height of system CG is estimated and amended in every control-cycle, and stable control effects are achieved along with the states feedback controller. Influence of the height of CG on the dynamic equilibrium is analyzed. The authors present the simulation as well as the model experiments, which show the self-stabilizing robot could be controlled smoothly by the mixed controller whether the height is changed by the loads or not and it can return to balance in approximately 2.5s when it is disturbed.

Development of a dual-mode mobile robot system for practical applications

This paper addresses a Coaxial Couple Wheeled Robot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as well as the designed controller are developed and demonstrated. The system is divided into four separate parts, and independent functional modules can be quickly assembled for different target applications. Integration hardware is focused here, as well as the implementation of the controllers. For the robot control, a compact states feedback controller is proposed in this paper, and then the robot can track the desired inputs. Finally, the running experiments indoor and outdoor proved that the robot platform can move smoothly with the two modes and furthermore the robot can execute the tasks of transporting and patrol.