Title:
TWO-WHEELED ROBOT CONTROL METHOD AND APPARATUS, MEDIUM, PROGRAM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2024/067440
Kind Code:
A1
Abstract:
A two-wheeled robot control method and apparatus, a medium, a program, and a robot. The method comprises: calculating an optimal feedback gain, an optimal variable matrix, and an uncertainty according to a first state variable and a first feedback gain of a two-wheeled robot, the optimal variable matrix being used for representing the degree of gain of the motion state of the two-wheeled robot to a control mode of the two-wheeled robot; calculating an angle deviation matrix and a noise deviation matrix according to the optimal feedback gain, the optimal variable matrix, the uncertainty, and a second state variable of the two-wheeled robot; obtaining a control torque of the two-wheeled robot according to the second state variable, the optimal feedback gain, the angle deviation matrix, and the noise deviation matrix; and controlling the two-wheeled robot according to the control torque.
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Inventors:
ZHANG JINGFAN (CN)
Application Number:
PCT/CN2023/120933
Publication Date:
April 04, 2024
Filing Date:
September 25, 2023
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN114764241A | 2022-07-19 | |||
| CN114791729A | 2022-07-26 | |||
| CN113752250A | 2021-12-07 | |||
| CN112965508A | 2021-06-15 | |||
| CN113753150A | 2021-12-07 |
Attorney, Agent or Firm:
SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)
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