Modeling, control and experimental verification on a two-wheeled vehicle with free inclination: An urban transportation system

Vermeiren, Laurent; Dequidt, Antoine; Guerra, Thierry Marie; Rago-Tirmant, Hélène; Parent, Michel

doi:10.1016/j.conengprac.2011.04.002

Cited by 31 publications

(14 citation statements)

References 17 publications

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“…Theoretically, this additional loop is an extension of the system's state vector to X T = X T X T l , where [12] …”

Section: Control Loop Of the Transporter Adding An Integral Partmentioning

confidence: 99%

“…Inside a compact set of state variable, TS fuzzy model can represent exactly a nonlinear system by a collection of linear models weighted together by a nonlinear function issued from nonlinearities of the system [12]. The advantage of this representation is that it provides a systematic framework for designing control laws through the LMI constrain formulation [13].…”

Section: B Ts Fuzzy Descriptor Approachmentioning

confidence: 99%

“…Especially if we underline the fact that the vehicle is intended for disabled person, it increases rudely the complexity of the global system (human+robot) because of the variation of masses and inertial characteristics of the passengers. Those unknown parameters represent a structural uncertainties [12] and then, it creates a non measurable disturbances. In order to deal with this constraint, it is necessary to design a robust controller.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust control of two-wheeled self-balanced transporter on sloping ground: A Takagi-Sugeno descriptor approach

Allouche

Vermeiren

Dequidt

et al. 2013

3rd International Conference on Systems and Control

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A commonly asked question in the field of autonomous robotics and intelligent vehicles is : How to design and control an urban transporter able to investigate narrow spaces ? From a mechanical point of view, a two wheeled transporter seems to be a good alternative due to its small footprint and its ability to manoeuvre on tight turns. However, the design of this vehicle requires two level of control : One, for the auto-balancing. The second ensures a velocity tracking. The use of linear control law requires a linearisation of the model around an a priori known equilibrium point under the assumption that the vehicle moves on a plane surface. Now, assume that the vehicle is moving along an unknown slope. Then, the equilibrium point is not known while designing the controller. The linearized model becomes unrepresentative. This work present a control of self-balanced two wheeled transporter. The aim is to design a robust controller able to stabilize the transporter on its natural equilibrium along an unknown slope. A quasi LPV approach, through the so-called TS fuzzy model and LMI constraints will be proposed. Moreover, The natural descriptor form of the mechanical system will be used to design the control law. This last choice allows reducing the conservatism of the LMI conditions. Finally a simulation tests showed the effectiveness of our approach.

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“…Theoretically, this additional loop is an extension of the system's state vector to X T = X T X T l , where [12] …”

Section: Control Loop Of the Transporter Adding An Integral Partmentioning

confidence: 99%

Section: B Ts Fuzzy Descriptor Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust control of two-wheeled self-balanced transporter on sloping ground: A Takagi-Sugeno descriptor approach

Allouche

Vermeiren

Dequidt

et al. 2013

3rd International Conference on Systems and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, most of these controllers rely on the system model information, which can rarely be obtained in practice. It should also be mentioned that many advanced modeling and identification techniques can be used for model-based control design (e.g., [14,15,16]), but it is still difficult to obtain an explicit description of the vehicle in real time. Intelligent 1 control, including the use of fuzzy control and neural networks (NNs), has been shown to be a powerful technique for control design when dealing with complex dynamical systems (e.g., [17,18,19,20]).…”

Section: Introductionmentioning

confidence: 99%

Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner

Yue

et al. 2016

Fuzzy Sets and Systems

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“…In the previous research [20][21][22] the dynamic models used for TWMR do not consider the inclination or accelerations produced due to nonhorizontal terrain. This paper proposes a multi objective dynamic model that takes into account the robot motion on inclined as well as on uneven terrain.…”

Section: Introductionmentioning

confidence: 99%

The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

Kausar

Stol

Patel

2012

International Journal of Advanced Robotic Systems

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Two-wheeled mobile robots (TWMRs) have a capability of avoiding the tip-over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real-time implementation of position control, an estimation of the stability region of the TWMR is essential for safe operation. A numerical method to estimate the stability region is applied and the effects of inclined surfaces on the performance and stability region of the robot are investigated. The dynamics of a TWMR is modelled on a general uneven terrain and reduced for cases of inclined and horizontal flat terrain. A full state feedback (FSFB) controller is designed based on optimal gains with speed tracking on a horizontal flat terrain. The performance and stability regions are simulated for the robot on a horizontal flat and inclined terrain with the same controller. The results endorse a variation in equilibrium points and a reduction in stability region for robot motion on inclined terrain.

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Modeling, control and experimental verification on a two-wheeled vehicle with free inclination: An urban transportation system

Cited by 31 publications

References 17 publications

Robust control of two-wheeled self-balanced transporter on sloping ground: A Takagi-Sugeno descriptor approach

Robust control of two-wheeled self-balanced transporter on sloping ground: A Takagi-Sugeno descriptor approach

Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner

The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

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