A high-order disturbance observer based sliding mode velocity control of mobile wheeled inverted pendulum systems

Ri, Songhyok; Huang, Jian; Tao, Chunjing; Ri, MyongHyok; Ri, Yongsok; Han, Daeho

doi:10.1109/wcica.2016.7578328

Cited by 4 publications

(6 citation statements)

References 11 publications

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“…The dynamic model of the wheeled mobile robot can be obtained with the use of Euler-Lagrange analysis. 41,42 By defining the state vector of the WIP as q = [ψ, θ, α] T , its dynamic model is written initially in the following state-space form: 1,2…”

Section: Dynamic Model Of the Wipmentioning

confidence: 99%

“…The main parameters of the model are: u r and u l are the torques of the right and left wheel, respectively, m b and m w are the masses of the body of the vehicle and of each one of its wheels, respectively, I bl which is the moment of inertia of the pendulum around the y axis, I bz which is the moment of inertia of the pendulum around the z axis, I bx which is the moment of inertia of the wheel around its axis, I wa and I wd are the moments of inertia of the wheel around its axis and diameter, respectively, l which is the distance between the center of the wheels' axis and the center of gravity of the pendulum, r which is the radius of the wheel, 2b which is the length of the wheels' axis, D b which is the viscous resistance of the driving system, and D w which is the viscous resistance of the ground. 1,2 In particular, the main parameters of the dynamic model of the WIP are defined as follows:…”

Section: Dynamic Model Of the Wipmentioning

confidence: 99%

“…After intermediate computations, the dynamic model of the pendulum is written also in the affinein-the-input form: 1,2 ⎛ ⎝ψ θ α (9) or by defining the state vector…”

Section: Dynamic Model Of the Wipmentioning

confidence: 99%

“…The problem of feedback control and stabilization of the wheeled inverted pendulum (WIP) is a nontrivial one due to the model's nonlinearities and underactuation. 1,2 Actually, one can use only two control inputs (wheels' torques) so as to control a system of more degrees of freedom. This control problem is of interest for the area of robotics because such a type of two-wheeled vehicles can be used for the transportation of humans and loads without the space and maneuvering limitations exhibited by four-wheel vehicles.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Optimal Control for the Wheeled Inverted Pendulum System

Rigatos

Busawon²,

Pomares³

et al. 2019

Robotica

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SummaryThe article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to its underactuation. First, the dynamic model of the WIP undergoes approximate linearization around a temporary operating point which is recomputed at each time step of the control method. The linearization procedure makes use of Taylor series expansion and of the computation of the associated Jacobian matrices. For the linearized model of the wheeled pendulum, an optimal (H-infinity) feedback controller is developed. The controller’s gain is computed through the repetitive solution of an algebraic Riccati equation at each iteration of the control algorithm. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, by using the H-infinity Kalman Filter as a robust state estimator, the implementation of a state estimation-based control scheme becomes also possible.

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Section: Dynamic Model Of the Wipmentioning

confidence: 99%

Section: Dynamic Model Of the Wipmentioning

confidence: 99%

“…After intermediate computations, the dynamic model of the pendulum is written also in the affinein-the-input form: 1,2 ⎛ ⎝ψ θ α (9) or by defining the state vector…”

Section: Dynamic Model Of the Wipmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonlinear Optimal Control for the Wheeled Inverted Pendulum System

Rigatos

Busawon²,

Pomares³

et al. 2019

Robotica

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“…The effectiveness of the FLC and output feedback controller was proved using the RIP system. For the mobile wheeled RIP system, a new disturbance observer was designed in Ri et al 24 Optimal gain vectors were also calculated for a better estimate of disturbance observer.…”

Section: Introductionmentioning

confidence: 99%

Swing up and stabilization control of rotary inverted pendulum based on energy balance, fuzzy logic, and LQR controllers

Abdullah

Amin

Iqbal

et al. 2021

Measurement and Control

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Rotary Inverted Pendulum (RIP) mimics the behavior of many practical control systems like crane mechanism, segway, unicycle robot, traction control in vehicles, rocket stabilization, and launching. RIP is a fourth-order nonlinear open-loop unstable dynamical system and is widely used for testing the effectiveness of the newly developed control algorithms. In this paper, a Hybrid Control Scheme (HCS) based on energy balance and fuzzy logic controllers is proposed to implement the swing up and stabilization control of RIP. In the proposed control scheme, the fuzzy logic-based state feedback gains are dynamically tuned in real-time by minimizing the absolute error between the desired and actual states to get robust control performance. The proposed HCS is also compared with the conventional Linear Quadratic Controller (LQR) for this application. The comparative results show that the proposed fuzzy logic-based hybrid control scheme gives the optimal control performance in terms of achieving satisfactory transient, steady-state, and robust responses from a given RIP system, as compared to the conventional LQR based control scheme. The proposed control scheme is also relatively less complex with a low computational cost and provides desired response characteristics as compared to the existing ones in the literature.

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