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 a first primary function set weight and a second primary function set weight corresponding to the initial controller according to the online state variable and the online control moment to obtain an optimized first primary function set weight and an optimized second primary function set weight; and determining an optimized controller according to the optimized first primary function set weight and the optimized second primary function set weight, and controlling the target system based on the optimized controller, thereby effectively improving the stability of the system.
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。所述方法包括:基于初始的控制器对目标系统进行控制,并获取所述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,所述目标系统包括机器人和所述机器人所骑的平衡车;根据所述在线状态变量和所述在线控制力矩对与所述初始的控制器对应的第一基函数集合权重和第二基函数集合权重进行迭代优化,得到优化后的第一基函数集合权重和优化后的第二基函数集合权重;根据所述优化后的第一基函数集合权重和所述优化后的第二基函数集合权重确定优化后的控制器,并基于所述优化后的控制器对所述目标系统进行控制,有效提高了系统的稳定性。
Control method and device for robot riding balance car, storage medium and robot
骑平衡车的机器人控制方法、装置、存储介质及机器人
2024-04-12
Patent
Electronic Resource
Chinese
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