Review of modelling and control of two-wheeled robots

Chan, Ronald Ping Man; Stol, Karl; Halkyard, C.R.

doi:10.1016/j.arcontrol.2013.03.004

Cited by 192 publications

(96 citation statements)

References 70 publications

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“…Pathak et al [2005] present, e. g., two different two-level controllers based on the partially feedback linearized model for position and velocity control while maintaining stable pitch dynamics; Nasrallah et al [2007] design in several steps a posture and velocity control for the WIP moving on an inclined plane. Many other types of modeling and control approaches have also been implemented and tested: For a very complete overview of the existing work on modeling and control of WIPs until 2012 the reader is referred to Chan et al [2013].…”

Section: Existing Workmentioning

confidence: 99%

Energy shaping for the robust stabilization of a wheeled inverted pendulum

Delgado

Kotyczka

2015

IFAC-PapersOnLine

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The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to nonholonomic constraints. The equilibrium to be stabilized is characterized by the length of the driven path, the orientation, and the pitch angle. We use the method of Controlled Lagrangians which is applied in a systematic way, and is very intuitive, for it is physically motivated. After a detailed presentation of the model under nonholonomic constraints, we provide an elegant solution of the matching equations for kinetic and potential energy shaping for the considered systems. Simulations show the applicability and robustness of the method.

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Section: Existing Workmentioning

confidence: 99%

Energy shaping for the robust stabilization of a wheeled inverted pendulum

Delgado

Kotyczka

2015

IFAC-PapersOnLine

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“…The Proportional-Integral-Derivative Neural-Networks (PID-NN) controller [4] is based on the discrete equation model of the transfer function of the PID control.…”

Section: Artificial Neural-network Controlmentioning

confidence: 99%

“…Many controller designs have been investigated for the autobalance two-wheeled robot [4]. Proportional-Integral-Derivative (PID) controllers are widely used in many areas in industry, because no model of the plant is required, with tuning of just three gains [5].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Intelligent Systems applied to two-wheeled robot and the effect of different terrains on performance

Santos¹,

Amaral²,

Amaral³

2017

Adv. sci. technol. eng. syst. j.

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This work discuss two different intelligent controllers: Online Neuro Fuzzy Controller (ONFC) and Proportional-Integral-Derivative Neural Network (PID-NN). They were applied to maintain the equilibrium and to control the position of a two-wheeled robot prototype. Experiments were carried out to investigate the equilibrium control and movement of the two-wheeled robot first on flat terrain, then in other situations, where terrain may not be flat, horizontal surface. The effectiveness of each controller was verified by experimental results, and the performance was compared with conventionalPID control scheme applied for the prototype.

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“…Wheeled mechanism has better power efficiency and easier control experience than joint driving as it utilized in wheeled robot [14]. Therefore, based on the analysis of current rehabilitation study, we developed a foot-wheel driving exoskeleton for paraplegic patents which uses simplified mechatronic system to realize the basic needs of lower-limb disabled individuals for upright walking.…”

Section: Introductionmentioning

confidence: 99%

WheelWalker: a foot-wheel driving exoskeleton for the alternate walk of paraplegic patients

Wang

2017

MATEC Web Conf.

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Abstract. Upright walk is the fundamental need of paraplegic patients. In this study, we proposed a novel lower-limb exoskeleton for assisting the patients to walk alternately and further improve their engagement in the rehabilitation training. The exoskeleton was driven by a hub motor which was mounted under the foot, and a pair of custom-made crutch with wireless controller was used to control the walking condition of exoskeleton and maintain balance. This paper mainly introduced the general designing concept and detailed specifications of each modules of the exoskeleton. A pilot using experiment was performed on two healthy subjects to qualitatively analyse the capability of this exoskeleton when adopting different gaits. The results showed that the subjects with different body characteristics could complete continued walk by wearing this exoskeleton either in a three-point gait mode or four-point gait mode.

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Review of modelling and control of two-wheeled robots

Cited by 192 publications

References 70 publications

Energy shaping for the robust stabilization of a wheeled inverted pendulum

Energy shaping for the robust stabilization of a wheeled inverted pendulum

Adaptive Intelligent Systems applied to two-wheeled robot and the effect of different terrains on performance

WheelWalker: a foot-wheel driving exoskeleton for the alternate walk of paraplegic patients

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