Control and Application of Tail-Like Mechanism in Self-balance Robot

摘要

This paper proposes a self-balance robot with tail-like mechanism and corresponding dynamic model. Unlike the self-balance vehicle which adjust the tilt angle using the wheel motor to control the balance, the balance of the self-balance robot in this paper is realized by controlling the tail-like mechanism. Firstly, an underactuated system model is established and we adopt an adaptive hierarchical sliding mode controller. The adaptive law is derived for the uncertainty estimation. Then, the system stability is proved based on Lyapunov function. Finally, the simulation of the controller for the system is presented to prove the effectiveness.