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

Jmel, Ines; Dimassi, Habib; Said, Salim Hadj; M’Śahli, Faouzi

doi:10.1155/2020/5162172

Cited by 4 publications

(2 citation statements)

References 28 publications

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“…e mainstream tracking control algorithms at this stage included sliding mode control, model predictive control (MPC), and optimal control [1][2][3][4]. Due to the advantages in handling system constraints and balancing multiple control objectives, MPC has been applied in more and more practical mobile robots, such as wheeled robots [5][6][7][8][9] and underwater autonomous navigation robots [10,11]. In [8], the authors designed a MPC-based trajectory tracking control method, which could ensure that the unmanned vehicle track the reference trajectory quickly and stably; the distance error and heading error are in a reasonable range, and the real-time performance meet the requirements.…”

Section: Introductionmentioning

confidence: 99%

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

et al. 2021

Mathematical Problems in Engineering

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A novel model predictive control- (MPC-) based trajectory tracking controller for mobile robot is proposed using the event-triggering mechanism, and the aim is to solve the problem that the MPC optimization problem requires a large amount of online computation and communication resources. This method includes two different event-triggering strategies, namely, the event-triggering based on threshold curve and the event-triggering based on threshold band. The selection of the triggering threshold is achieved by applying the statistical method to the historical data of the trajectory tracking of the mobile robot under the classic MPC method. Simulation and experimental tests illustrate that the proposed approach is able to significantly reduce the computation and communication burdens without affecting the control performance. Furthermore, the experimental results show that compared with the classic MPC-based tracking method, the proposed two event-triggering strategies can reduce 28.1% and 75.7% of the computation load and 0.886 s and 2.385 s communication time.

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Section: Introductionmentioning

confidence: 99%

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

et al. 2021

Mathematical Problems in Engineering

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“…is controller can only stabilize the pitch and yaw angles of the TWIR. Recently, an adaptive observer-based high gain controller was proposed in [22]. It requires a lot of integral calculations to estimate state variables and TWIR's parameters.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty

Tran

Nguyen

2020

Journal of Control Science and Engineering

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In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expansion for the nonlinear model of the TWIR at an equilibrium point, in which the nonlinear part of the Taylor series and the model uncertainty are combined with unknown input disturbance as compound input disturbance. Then, the compound input disturbance is estimated by using the Newton method and reference model. As the estimated compound disturbance is used to compensate for the compound disturbance, the equivalent linear system becomes closely definite without compound input disturbance. Finally, two controllers are proposed using the equivalent linear system. Stability analysis of the proposed control methods is also given. To illustrate the proposed methods, some simulations for the TWIR are performed and compared with the existing methods. The main contribution of this work includes the following: (i) simple controllers based on compound input disturbance observer for trajectory tracking and balancing of TWIRs with unknown input disturbance and model uncertainty are proposed; (ii) the stability of proposed closed-loop control systems is proved; (iii) our proposed methods are simulated and compared with the existing methods.

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Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances

Jmel

Dimassi

Hadj-Said

et al. 2021

2021 9th International Conference on Systems and Control (ICSC)

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

Cited by 4 publications

References 28 publications

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty

Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances

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