Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum

Huang, Jian; Ri, MyongHyok; Wu, Dongrui; Ri, Songhyok

doi:10.1109/tfuzz.2017.2760283

Cited by 154 publications

(48 citation statements)

References 40 publications

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“…This is mainly attributed to its capability to model a class of modern vehicles transporting human or goods safely and efficiently [2], and to demonstrate various control strategies. For instance, SEGWAY, which is a well-known and popular commercial personal transporter, is essentially a 2 WMR; Mu et al [5], Huang et al [6], and Pathak et al [7] applied their proposed control approaches to the WIP for demonstration. From the view point of motion control design, a salient feature of the 2 WMR or WIP is that it is usually underactuated.…”

Section: Introductionmentioning

confidence: 99%

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

Yin

Chen

2019

Journal of Dynamic Systems, Measurement, and Control

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Controlling underactuated systems is a challenging problem in control engineering. This paper presents a novel constraint-following approach for control design of an underactuated two-wheeled mobile robot (2 WMR), which has two degrees-of-freedom (DOF) to be controlled but only one actuator. The control goal is to drive the 2 WMR to follow a set of constraints, which may be holonomic or nonholonomic constraints. The constraint is considered in a more general form than the previous studies on constraint-following control (hence including a wider range of constraints). No auxiliary variables or pseudo variables are required for the control design. The proposed control only uses physical variables. We show that the proposed control is able to deal with both holonomic and nonholonomic constraints by forcing the constraint-following error to converge to zero, even if the system is not initially on the constraint manifold. Using this control design, we investigate two cases regarding different constraints on the 2 WMR motion, one for a holonomic constraint and the other for a nonholonomic constraint. Simulation results show that the proposed control is able to drive the 2 WMR to follow the constraints in both cases. Furthermore, the standard linear quadratic regulator (LQR) control is applied as a comparison in the simulations, which reflects the advantage of the proposed control.

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Section: Introductionmentioning

confidence: 99%

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

Yin

Chen

2019

Journal of Dynamic Systems, Measurement, and Control

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“…Rehabilitation robotics can be considered a specific focus of biomedical engineering and a part of human-robot interaction, increasing the ease of activities in the daily lives of these patients [1,2]. Huang et al [3] proposed an interval type-2 fuzzy logic control of a mobile two-wheeled inverted pendulum, which is a promising method for future personal mobilities. Wakita et al [4] and Nakagawa et al [5] developed a walking intention-based motion control of omnidirectional type cane robot for rehabilitation of the elderly.…”

Section: Introductionmentioning

confidence: 99%

An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators

2019

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To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of conventional sliding mode control (SMC) can be effectively solved by introducing a proxy between the physical object and desired position, which results in the so-called proxy-based sliding mode control (PSMC). To facilitate the theoretical analysis of PSMC and obtain a more general form of controller, a new virtual coupling and a SMC are used in our proposed EPSMC. For a class of second-order nonlinear system, the sufficient conditions ensuring the stability and passivity are obtained by using the Lyapunov functional method. Experiments on a real-time PMA control platform validate the effectiveness of the proposed method, and comparison studies also show the superiority of EPSMC over the conventional SMC, PSMC, and PID controllers.

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“…For the motion control design problem of the TWIP, most of the available works about controller design usually use the given longitudinal and yaw rotational speeds as tracking targets. Based on the dynamics equations of the TWIP, neural network-based control [16], fuzzy logic control [17] and adaptive control combined with some classical control methods have been proposed to design trajectory tracking controllers to track the given longitudinal and yaw rotational speeds target [18][19][20][21][22]. However, few works on the TWIP are devoted to design controllers for implementing a given motion trajectory curve in the Cartesian frame.…”

Section: Introductionmentioning

confidence: 99%

Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory

Zhou

Wang

Chung

2019

J Optim Theory Appl

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This paper presents a control design method for implementing planar turning motion of a two-wheeled inverted pendulum with an input delay. The control task requires that the inverted pendulum is kept stabilized during the whole turning motion process along a pre-settled curve. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made and they are used to set up a dynamical trajectory tracking target. Then, by adjusting the parameters in the tracking target and the weights in the quadratic performance criterion, the optimal integral sliding mode controller based on a linear quadratic regulator is designed for keeping the vehicle body stabilized and tracking a circular path for the two-wheeled inverted pendulum. An illustrative example is given to demonstrate the validity of the theory with numerical simulation. Keywords Two-wheeled inverted pendulum • Input delay • Curvature tracking • Optimal control • Dynamical tracking target

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Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum

Cited by 154 publications

References 40 publications

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach

An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators

Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory

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