Controller Design for Two-wheels Inverted Pendulum Mobile Robot Using PISMC

This paper concerns the composition method of a model based feedforward and sensor based feedback control realization of a mobile robot that has high center of gravity. The robot is comprised of a mobile base, which has two active wheels for locomotion, and body, which has a pitch and roll actuator connected to the mobile base. In this type of a mobile robot, the stabilization (against tip over) problem takes an important role in high performance mobility realization. The control method is explained from the viewpoint of controlling ZMP (Zero moment point). The composition control method (Model based feed-forward control and sensor based feedback control) is proposed and verified experimentally. The mobile robot's (weighs about 96kg) mobility performance with 2m/s speed and 1m/s 2 acceleration was achieved using this approach. In addition, the sensor based feedback controller contributes to increasing stability.

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“…The state-space equation for LQR design differs slightly from (13), because the ZMP term should be included. The reformulated equation is…”

Section: Bp Schemementioning

confidence: 99%

“…The second one is inertial measurement based stabilization inspired by the classical inverted pendulum controller design problem [7][8][9][10][11][12][13]. Also feedforward compensation method for Inertial Stabilized Platform was proposed in [14].…”

Section: Introductionmentioning

confidence: 99%

Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

Park

Kim

et al. 2015

Int. J. Control Autom. Syst.

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“…An inverted pendulum type mobile robot is a system that adds mobility to the utilization of a mechanical function to balance the inverted pendulum system [1]. Research related to the control of an inverted pendulum type system has been widely reported [2][3][4][5][6][7][8][9][10][11][12][13]. Furthermore, it is similar to the control scheme of a biped robot created based on the observation that people maintain balance using their two feet while moving to a destination.…”

Section: Introductionmentioning

confidence: 99%

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

Yoo

Choi

2015

Int. J. Fuzzy Log. Intell. Syst.

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Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

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“…[4] tests a well known pole-placement state feedback controller. A LQR controller is introduced in [5] and [6] introduces a full order sliding mode control which has a good response to achieve the desired characteristic compare to LQR. [7] studies the balance of two wheeled robot by fuzzy control and PID control.…”

Section: Introductionmentioning

confidence: 99%

Model Prediction Control of Two Wheeled Mobile Manipulator

Yoon

Kim

et al. 2015

Intelligent Robotics and Applications

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Abstract. This paper proposes a model prediction control of two wheeled mobile manipulator. The combination of manipulator and two wheeled mobile robot (T-WMR) has been the focus of research in recent year. However, the dynamic analysis is difficult for a multi-DOF mobile manipulator. Moreover, the dynamic equations are complex and will cost great amount of computation time. Real time control is difficult to be realized. Therefore, the system is un-integrated and controlled independently. The effectiveness of the proposed control method has been demonstrated through the experiments.

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Controller Design for Two-wheels Inverted Pendulum Mobile Robot Using PISMC

Cited by 20 publications

References 4 publications

Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

Model Prediction Control of Two Wheeled Mobile Manipulator

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