The invention belongs to the technical field of robots, and particularly relates to a robot control method and device for riding a balance car, a computer readable storage medium and a robot. The method comprises the following steps: controlling a target system based on an initial controller, and obtaining an online state variable and an online control torque of the target system in a control process; wherein the target system comprises a robot and a balance car ridden by the robot; performing iterative optimization on the initial gain matrix of the controller according to the online state variable and the online control torque to obtain an optimized gain matrix; and determining an optimized controller according to the optimized gain matrix, and controlling the target system based on the optimized controller. According to the method and the device, the parameters of the controller can be continuously iteratively optimized by acquiring the online data, and even if the dynamic state of the system changes, the optimized controller matched with the system can be iterated for control, so that the stability of the system is effectively improved.

    本申请属于机器人技术领域,尤其涉及一种骑平衡车的机器人控制方法、装置、计算机可读存储介质及机器人。该方法包括:基于初始的控制器对目标系统进行控制,并获取目标系统在控制过程中的在线状态变量和在线控制力矩;其中,目标系统包括机器人和机器人所骑的平衡车;根据在线状态变量和在线控制力矩对初始的控制器的增益矩阵进行迭代优化,得到优化后的增益矩阵;根据优化后的增益矩阵确定优化后的控制器,并基于优化后的控制器对目标系统进行控制。通过本申请,可以通过获取在线数据对控制器的参数不断进行迭代优化,即使系统动态发生变化,也可以迭代出与之适配的优化后的控制器进行控制,有效提高了系统的稳定性。


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    Title :

    Control method and device for robot riding balance car, storage medium and robot


    Additional title:

    骑平衡车的机器人控制方法、装置、存储介质及机器人


    Contributors:
    ZHANG JINGFAN (author) / LI LU (author) / GE LIGANG (author) / FU CHUNJIANG (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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