Attitude Control for Rapid Robot with Human Simulated Intelligent Control Theory

摘要

It is very important to hold the wheeled robot's 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 robot's 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.