控制理论与应用2026，Vol.43Issue(8)：1667-1677,11.DOI:10.7641/CTA.2025.40419
双轮腿机器人动态平衡控制
Dynamic balance control of two wheel-legged robot
摘要
Abstract
Two wheel-legged robots can be used for small-scale transportation and exploration tasks in complex and unknown environments.An excellent balance controller is the key to undertaking complex tasks.This paper proposes a dynamic balance control scheme for a parallel wheel-legged robot.Firstly,the model of two wheel-legged robots is established and the virtual model control algorithm is used to simplify the leg structure of the robot.For the design of the balance controller,it is completed based on the linear quadratic regulator when there is a deviation in the angle of two legs.The main innovation is that the designed controller takes into account the deviation in the angle of legs,which solves the problem of balance control in complex environments.It ensures the robustness of the system and reduces the amount of calculation and design difficulty.Finally,the feasibility of the scheme is verified through experiments in non-ideal simulation and actual environments.关键词
平衡控制/并联式轮腿结构/VMC算法/LQR控制器Key words
balance control/parallel wheel-legged structure/VMC algorithm/LQR controller引用本文复制引用
赵浩阳,王庆领,余兰林..双轮腿机器人动态平衡控制[J].控制理论与应用,2026,43(8):1667-1677,11.基金项目
国家自然科学基金项目(62373102),江苏省自然科学基金项目(BK20221455)资助.Supported by the National Natural Science Foundation of China(62373102)and the National Natural Science Foundation of Jiangsu Province(BK20221455). （62373102）
