Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification

摘要

There are few studies on the lateral motion of spherical robots. In this article, a new algorithm is proposed to solve the problem of low control accuracy of the lateral motion. A single lateral motion model is established, and the optimal solution of the linear quadratic regulator in infinite time domain is obtained. Aiming at the problems of longitudinal velocity and lateral angle coupling and low control precision, state compensation and velocity feedforward are carried out, and an improved robust servo linear quadratic regulator control algorithm is proposed. Experiments show that the proposed lateral control algorithm has strong adaptability and robustness to changing speeds and lateral angles, and the control effect is stable and reliable.