バックステッピングによるロータ搭載車両型ロボットのピッチング運動制御

抄録

This paper presents a control strategy for a wheeled mobile robot with variable pitch blades which make it highly mobile over irregular terrain. In our previous work, a mathematical model with respect to pitching motion of the robot necessary to climb a stair was developed, and a servo controller for the pitching motion was proposed under the assumption that the desired lift and down force can be precisely generated without any delay. In this paper, taking the actuator dynamics into account, the controller is redesigned applying backstepping method, and its effectiveness is shown by numerical simulation.