High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems

Huang, Jian; Zhang, Mengshi; Ri, Songhyok; Chen, Xiong; Li, Zhijun; Kang, Yu

doi:10.1109/tie.2019.2903778

Cited by 141 publications

(60 citation statements)

References 32 publications

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“…To eliminate the free path local minima, F total (p) should be pointing to the target, namely, F total (p) has a same direction with n 1 , thus the following condition should be satisfied according to (14):…”

Section: Figurementioning

confidence: 99%

“…In the practical application process, such as home service, industrial production, transportation, space probe, etc., the WIP vehicle will inevitably encounter various obstacles, which seriously influence the implementation of related tasks [2,32,40]. Moreover, the WIP vehicle subjects to the nonholonomic constraint between the wheels and ground due to the pure rolling motion [6,11,21,34], and it is also a typical underactuated system that the number of control inputs is less than the degrees of freedom [8,14,29,37], both of which make the control of the vehicle more difficult. Therefore, developing a control method for the WIP vehicle in multi-obstacle environment not only has important theoretical meaning, but also has great practical significance.…”

Section: Introductionmentioning

confidence: 99%

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WIP Vehicle Control Method Based on Improved Artificial Potential Field Subject to Multi-obstacle Environment

Yue

Ning²

2020

ITC

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This paper presents a control method for a WIP vehicle in multi-obstacle environment based on improved artificial potential field. Firstly, an improved artificial potential field (IAPF) is developed, where a safe distance is introduced to the existing repulsive potential field to solve the security issue, while the local minima can also be eliminated in the meantime. Next, an obstacle avoidance controller is designed based on the IAPF, where the nonholonomic constraint and underactuated characteristic of the WIP vehicle are fully considered, and the stability condition of the system is analyzed by means of the related control theory. Moreover, to further improve the control performance, a key parameter that play an important role in the controller is adjusted by taking advantage of fuzzy logic, and detailed analyses are given to demonstrate its necessity and effectiveness. Finally, considering a motion environment that contains dense obstacles, narrow corridor and an obstacle near the target, numerical simulations are conducted to validate the proposed method, whose results indicate that the method has a good performance to control the WIP vehicle in multi-obstacle environment.

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Section: Figurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

WIP Vehicle Control Method Based on Improved Artificial Potential Field Subject to Multi-obstacle Environment

Yue

Ning²

2020

ITC

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“…The proposed control method is verified by simulation experiment. Besides, Huang et al proposed a high-order disturbance observer and designed a sliding mode control method based on it for underactuated robotic systems [96,97].…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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“…e asymptotic convergence of tracking errors was shown using Lyapunov's theory. More recently, in [7], a new sliding mode control strategy based on a high-order disturbance observer has been developed for a mobile wheeled inverted pendulum. eoretical stability results of both estimation and tracking errors have been established and validated experimentally.…”

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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High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems

Cited by 141 publications

References 32 publications

WIP Vehicle Control Method Based on Improved Artificial Potential Field Subject to Multi-obstacle Environment

WIP Vehicle Control Method Based on Improved Artificial Potential Field Subject to Multi-obstacle Environment

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

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

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