A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel

Larimi, S. Reza; Zarafshan, Payam; Moosavian, S. Ali A.

doi:10.1115/1.4027852

Cited by 25 publications

(14 citation statements)

References 28 publications

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“…The sprung mass of the vehicle should be investigated as an inverted pendulum problem. Various methods are used to stabilize a moving inverted pendulum in an upright position, such as by moving its body horizontally to balance its center of gravity (Irdayanti et al, 2020) , using a control moment gyroscope (CMG) (Ünker, 2021) and applicating a reaction wheel (Larimi et al, 2015). The size of the force can cause the vehicle to fall while tilting its body to provide stability (Xu et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Control Moment Gyroscope (CMG) for Roll Stabilization of a Heavy Vehicle

Ünker¹

2021

Preprint

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In this research, a moment propagated by a flywheel gyroscope is analysed as a control moment gyro (CMG) to prevent vehicle rollover. When the torque of the rotating flywheel is controlled, specific sinusoidal motion occurs. It is observed that the sinusoidal gimbal motion causes to be a smallish vibration amplitude in the upright position of the sprung mass. Therefore, CMG maintains the rollover stability of the sprung mass with a steady motion. Besides, there is a simulation model using a CAE software (RecurDyn), which is built to validate the equations of motion.

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Section: Introductionmentioning

confidence: 99%

Control Moment Gyroscope (CMG) for Roll Stabilization of a Heavy Vehicle

Ünker¹

2021

Preprint

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“…Today, Lagrangian and Newton-Euler formulations are more frequently used in research works to derive the motion equations of autonomous wheeled mobile platforms. Moreover, the mathematical modeling of an examined system is often simplified by assuming only planar motion or holonomic constraints [7][8][9][10]. Nonetheless, by considering nonholonomic constraints for a system, Lagrange multipliers will appear in the equations of motion, which can be obtained by employing the Lagrangian methodology.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Shafei

Bahrami

Talebi

2020

J Braz. Soc. Mech. Sci. Eng.

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In this paper, a novel hybrid control approach is used for trajectory-tracking control of wheeled mobile robotic manipulators (WMRMs) in the presence of model uncertainties and external disturbances. Due to the existence of nonholonomic constrains in wheeled mobile robots, the proposed controller should be able to tackle the challenge of underactuation in such systems. To attain this objective, the dynamic equations of motion for a WMRM are derived in closed form using the Gibbs-Appell (G-A) formulation, which is an efficient method for obtaining the dynamic motion equations of nonholonomic systems. Then, a novel control scheme is developed which is both optimal and robust and which enjoys updated gains under an adaptive law. In this regard, to benefit from the advantages of two distinct methods, a high-order sliding mode control (HOSMC) is employed as a robust controller with the aim of handling system uncertainties and a state-dependent Riccati equation (SDRE) is used as a nonlinear optimal controller. In order to systematically deal with system uncertainties and to avoid the manual calculation of the upper bound of uncertainties, the gain of HOSMC is updated via an adaptive law. The most important advantage of this novel approach over the existing methods is that not only is it robustly stable against external disturbances when controlling an uncertain nonlinear system but also optimal for a predefined quadratic cost function. Lyapunov stability theory is employed to verify the stability of the proposed controller. Finally, to demonstrate the superiority of this novel controller, computer simulation results for a WMRM are compared with those of an adaptive sliding mode controller. It can be observed that the proposed hybrid control approach is capable of optimizing control inputs while achieving stability for a WMRM in the presence of model uncertainties.

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“…In recent years, studies on two-wheeled mobile robot (2 WMR) or wheeled inverted pendulum (WIP), especially the motion control for it, have received extensive attention in both academia and industry worldwide [1][2][3][4]. This is mainly attributed to its capability to model a class of modern vehicles transporting human or goods safely and efficiently [2], and to demonstrate various control strategies.…”

Section: Introductionmentioning

confidence: 99%

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

Yin

Chen

2019

Journal of Dynamic Systems, Measurement, and Control

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Controlling underactuated systems is a challenging problem in control engineering. This paper presents a novel constraint-following approach for control design of an underactuated two-wheeled mobile robot (2 WMR), which has two degrees-of-freedom (DOF) to be controlled but only one actuator. The control goal is to drive the 2 WMR to follow a set of constraints, which may be holonomic or nonholonomic constraints. The constraint is considered in a more general form than the previous studies on constraint-following control (hence including a wider range of constraints). No auxiliary variables or pseudo variables are required for the control design. The proposed control only uses physical variables. We show that the proposed control is able to deal with both holonomic and nonholonomic constraints by forcing the constraint-following error to converge to zero, even if the system is not initially on the constraint manifold. Using this control design, we investigate two cases regarding different constraints on the 2 WMR motion, one for a holonomic constraint and the other for a nonholonomic constraint. Simulation results show that the proposed control is able to drive the 2 WMR to follow the constraints in both cases. Furthermore, the standard linear quadratic regulator (LQR) control is applied as a comparison in the simulations, which reflects the advantage of the proposed control.

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A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel

Cited by 25 publications

References 28 publications

Control Moment Gyroscope (CMG) for Roll Stabilization of a Heavy Vehicle

Control Moment Gyroscope (CMG) for Roll Stabilization of a Heavy Vehicle

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

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