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Advances in robust control of mobile wheeled inverted pendulum

Advances in robust control of mobile wheeled inverted pendulum

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There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in autonomous robotics and intelligent vehicles. To cope with the model uncertainties and external disturbances, several robust controllers are designed for the MWIP models. For the velocity-tracking problem of the MWIP systems, we proposed two sliding-mode-control (SMC) methods. There is still a steady tracking error when the first SMC method is used. By assuming a novel sliding surface, the second SMC method is designed to solve this problem. Using a coordinate transformation, the non-“Class-I” type underactuated MWIP system is presented as a semistrict feedback form which is convenient for controller design. A dynamic surface controller with a nonlinear disturbance observer (DSCNDO) is then designed to solve the balance control problem of the MWIP systems. The proposed DSCNDO can compensate the external disturbances and the model uncertainties to improve the system performance significantly. The stabilities of the closed-loop MWIP systems using the proposed methods are proved by Lyapunov theorem. The effectiveness of all the methods is verified by numerical simulations.

Chapter Contents:

  • Abstract
  • 9.1 Introduction
  • 9.2 Modeling of mobile wheeled inverted pendulum
  • 9.2.1 Derivation of dynamic model
  • 9.2.2 Analysis of equilibriums
  • 9.3 Sliding mode controller design for mobile wheeled inverted pendulum
  • 9.3.1 Type-I sliding mode controller for MWIP
  • 9.3.2 Type-II sliding mode controller for MWIP
  • 9.4 Dynamic surface controller with nonlinear disturbance observer for MWIP
  • 9.4.1 Nonlinear disturbance observer design for MWIP
  • 9.4.2 Controller design
  • 9.5 Simulation study
  • 9.5.1 Simulation of SMC for MWIP
  • 9.5.1.1 Simulation study for the Type-I SMC controller
  • 9.5.1.2 Simulation study for the Type-II SMC controller
  • 9.5.2 Simulation of DSCNDO for MWIP
  • 9.6 Conclusion
  • Acknowledgment
  • References

Inspec keywords: nonlinear control systems; variable structure systems; pendulums; closed loop systems; velocity control; robust control; Lyapunov methods; mobile robots; feedback

Other keywords: autonomous robotics; SMC; velocity-tracking problem; mobile wheeled inverted pendulum; closed-loop MWIP systems; semistrict feedback form; DSCNDO; external disturbances; underactuated mechanical systems; sliding surface; robust control; dynamic surface controller with a nonlinear disturbance observer; Lyapunov theorem; model uncertainties; intelligent vehicles; sliding-mode-control methods

Subjects: Velocity, acceleration and rotation control; Mobile robots; Nonlinear control systems; Stability in control theory; Multivariable control systems

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