Double-loop fuzzy motion control with CoG supervisor for two-wheeled self-balancing assistant robots

Hsu, Chun‐Fei; Kao, Wei-Fu

doi:10.1007/s40435-020-00617-y

Cited by 6 publications

(7 citation statements)

References 32 publications

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“…de 4 grados de libertad [3], [5], [6], pero requieren inevitablemente un filtro tipo Kalman para garantizar un control robusto.…”

Section: Diseño Del Robotunclassified

Implementación de un controlador para robot de tipo péndulo invertido

Cruz Baas,

Ríos Martínez,

Olguín Díaz

et al. 2024

Perspectivas

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En la robótica móvil de interiores sobresalen los robots con ruedas porque su mecánica es más simple y requiere menor trabajo de mantenimiento comparados con los robots articulados de piernas. En este trabajo se describen las fases para la implementación de un software de control para un robot péndulo invertido usando el algoritmo regulador cuadrático lineal (LQR, por sus siglas en inglés). La arquitectura del software se puede descomponer por grandes bloques de abstracción, combinando bibliotecas de software embebido y piezas de software desarrolladas especialmente para el proyecto. La gran mayoría de proyectos con el péndulo invertido utilizan un control PID, principalmente debido a la simplicidad de su implementación. Este método es funcional, pero poco escalable, consume tiempo y, aunque algunas implementaciones presentan un excelente rechazo a perturbaciones externas, no existe una garantía de estabilidad si algún parámetro del robot cambia. El prototipo desarrollado podría servir como base de experimentación para futuras investigaciones sobre robótica móvil o control automático.

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“…de 4 grados de libertad [3], [5], [6], pero requieren inevitablemente un filtro tipo Kalman para garantizar un control robusto.…”

Section: Diseño Del Robotunclassified

Implementación de un controlador para robot de tipo péndulo invertido

Cruz Baas,

Ríos Martínez,

Olguín Díaz

et al. 2024

Perspectivas

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“…[ 32 ] This method mitigates the correlation between the inner‐loop and the outer‐loop, thereby enabling effective nonlinear control of complex systems. In recent years, the dual‐loop control strategy has demonstrated its effectiveness in various applications, including robot trajectory tracking, [ 33 ] voltage control, [ 34,35 ] post‐disaster network reconstruction, [ 36 ] ship‐mounted Stewart platform control, [ 37 ] and magnetic bearing radial tracking control, [ 38 ] etc. The Hamilton‐Jacobi‐Isaacs (HJI) inequality is a nonlinear system control method that effectively suppresses disturbances without requiring any prior knowledge of the disturbances.…”

Section: Introductionmentioning

confidence: 99%

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

Gong,

Su,

et al. 2023

Advcd Theory and Sims

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Dynamic positioning (DP) system is an advanced positioning system widely used in various special operation ships, and the design of control strategies to cope with different constraint conditions is the core technology of DP system research. In this study, a novel dual‐loop control law is proposed to effectively tackle the control challenges encountered by DP ships, particularly in the presence of input saturation and error constraints. Firstly, a saturation handling model is designed to avoid input saturation in the system. Subsequently, a dual‐loop DP control scheme is developed. The outer‐loop is responsible for the ship's position and heading control, while concurrently providing the command velocity signal essential for the inner‐loop. Specifically, a prescribed performance control strategy is designed in the outer‐loop to ensure precise control over positioning errors within predefined ranges and achieve desirable transient and steady‐state performance. The inner‐loop controls the ship's velocity signal, in which a feedback control law is designed based on Hamilton‐Jacobi‐Issacs (HJI) inequality to estimate generalized faults of the DP system. Finally, the proposed control law is validated through numerical simulations on a 76.2 m supply ship, demonstrating superior transient and steady‐state performance compared to existing methods.

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“…For example, Backstepping [51], [52], [53], [54]. Sliding mode control (SMC) [55], [56], [57], [58], adaptive control [63], [60], [62], [61], [63], fuzzy logic control in [69], [67], [68], [66], and antidisturbance control [64], [65]. However, with the increasing complexity of the tasks assigned to this type of robot, it is necessary to implement effective communication between their processes.…”

Section: Introductionmentioning

confidence: 99%

ROS-based Controller for a Two-Wheeled Self-Balancing Robot

Díaz-Téllez,

García-Ramírez,

Pérez-Pérez

et al. 2023

Journal of Robotics and Control

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In this article, a controller based on a Robot Operating System (ROS) for a two-wheeled self-balancing robot is designed. The proposed ROS architecture is open, allowing the integration of different sensors, actuators, and processing units. The low-cost robot was designed for educational purposes. It used an ESP32 microcontroller as the central unit, an MPU6050 Inertial Measurement Unit sensor, DC motors with encoders, and an L298N integrated circuit as a power stage. The mathematical model is analyzed through Newton-Euler and linearized around an equilibrium point. The control objective is to self-balance the robot to the vertical axis in the presence of disturbances. The proposed control is based on a bounded saturation, which is lightweight and easy to implement in embedded systems with low computational resources. Experimental results are performed in real-time under regulation, conditions far from the equilibrium point, and rejection of external disturbances. The results show a good performance, thus validating the mechanical design, the embedded system, and the control scheme. The proposed ROS architecture allows the incorporation of different modules, such as mapping, autonomous navigation, and manipulation, which contribute to studying robotics, control, and embedded systems.

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Double-loop fuzzy motion control with CoG supervisor for two-wheeled self-balancing assistant robots

Cited by 6 publications

References 32 publications

Implementación de un controlador para robot de tipo péndulo invertido

Implementación de un controlador para robot de tipo péndulo invertido

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

ROS-based Controller for a Two-Wheeled Self-Balancing Robot

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