Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Sơn, Nguyễn Ngọc; Ánh, Hồ Phạm Huy

doi:10.5772/59100

Cited by 21 publications

(14 citation statements)

References 14 publications

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“…In addition, Yang C et al proposed an optimized adaptive control to realize the trajectory tracking of TWSB vehicles [9]. Petrov proposed an adaptive motion controller to realize the self-balancing control and turning control of TWSB vehicles [10]. The authors in [11] proposed an adaptive inversion control algorithm and the anti-interference performance of the TWSB vehicle was verified by simulation.…”

Section: Introductionmentioning

confidence: 99%

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

et al. 2020

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This paper investigates the controls of straight running and turning of a different-axis twowheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with gyroscopic effect is used to describe the uncertainty caused by the working conditions. Based on the generalized coordinate systems, the nonlinear mathematical model of the IPS is established according to Lagrange equation. The sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) are respectively designed to control the system, in which the roll angle feedback is used. The simulation results of three models with/without the controllers are presented, which indicate that the ASMC can make the IPS recover upright faster in straight running, and better achieve the desired roll angle in turning compared with the SMC. Bikesim, a commercial software, is used to build a two-wheeled vehicle model with self-balancing function in combination with Matlab/Simulink. The results show that the ASMC can guarantee the anti-interference and turning abilities of the DATWSB vehicle. INDEX TERMS Different-axis two-wheeled self-balancing vehicle, gyroscopic effect, inverted pendulum, sliding mode control, adaptive sliding mode control.

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Section: Introductionmentioning

confidence: 99%

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

et al. 2020

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“…On the contrary, thanks to its robustness in preserving system performances; adaptive control represents the main motivation of several works notably the control of self-balancing robots. In [8], the authors have proposed an adaptive backstepping method to estimate the uncertain parameters and also to control the twowheeled e-scooter. ey used a PD controller to ensure the turning on the right and left of this system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot

Jmel

Dimassi

Said

et al. 2020

Mathematical Problems in Engineering

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In this paper, an output feedback control approach based on an adaptive observer is developed for the two-wheeled self-balancing robot subject to unknown parameters (with nonlinear parameterization). Firstly, a high gain control method with state feedback is proposed. Then, an adaptive observer is designed to estimate the unknown state and the unknown body mass of the robot which influences the height of the center of mass. Next, the adaptive observer is combined with the designed high gain controller: a Lyapunov-based stability analysis of the closed loop system is developed to establish the convergence of the tracking error as well as estimation and adaptation errors. Simulation results assert the performance of the developed tracking control scheme for the two-wheeled self-balancing robot subject to mass variation.

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“…Therefore, state space representation following linearization of the nonlinear dynamic model has been represented using different methods; such as Kane’s method, Lagrangian and Newton–Euler method by various researchers (Grasser et al , 2002; Kim and Kwon, 2015; Peng et al , 2012; Li et al , 2007). Also, a plentiful research has been carried out for developing several controllers like linear quadratic regulator, proportional-integral-derivative, fuzzy logic, adaptive back-stepping, fuzzy-immune-PD controller for attaining dynamic stability (Ooi, 2003; Huang et al , 2011; Son and Anh, 2014; Fang, 2014). The trajectory control of an inverted pendulum robot in a two-dimensional plane has been realized by Ha and Yuta (1994).…”

Section: Introductionmentioning

confidence: 99%

Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

Parhi

Chhotray

2018

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Purpose This paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR). Design/methodology/approach This TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters. Findings Authenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%. Practical implications This robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform. Originality/value A new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.

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Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Cited by 21 publications

References 14 publications

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot

Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

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