Principles of Mobile Walking Robot Control in Scope of Technical Monitoring Tasks

摘要

The article describes control synthesis for mobile walking robot, which has an interval mathematical model. We proposed proof of concept for mobile walking robot, carrying load up to sixty percents of robot's mass. Control system includes a computing unit, seven servos, a three-axis accelerometer and a moving camera operating in a visible optical range. Results of interval algorithms synthesis are shown for robot as an object of automatic control (OAC), with interval mathematical model. We defined the operational mode range of the system, its structure and interval parameters of mathematical model. It is shown that setting of interval values allows adequate modeling and description of processes in dynamic systems such as mobile walking robots. Main goal of this paper is to show possibility of classical Bode Diagram modification and application for the synthesis of interval control.