Robust Control of a Two-Wheeled Self-Balancing Mobile Robot

Lima-Perez, A.; Díaz-Téllez, J.; Gutierrez-Vicente, V.; Estevez-Carreon, J.; Perez-Perez, J.; García-Ramirez, R. S.; Chavez-Galan, J.

doi:10.1109/icmeae55138.2021.00038

Cited by 5 publications

(5 citation statements)

References 18 publications

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“…Proposition 1: Consider the angular dynamics (12) and ESO (13). Then, the estimation error behavior satisfies the ISS property.…”

Section: A Extended State Observer Designmentioning

confidence: 98%

“…From the perspective of automatic control, TWSBRs are unstable, underactuated, and highly coupled. Over time, linear timeinvariant (LTI) controls have been published, the pole placement controller [9], the optimal linear quadratic regulation (LQR) [10], [11], and the proportional integral derivative (PID) [12], [13], [14], [15]. In [16], an optimal PID controller VOLUME 11, 2023 and LQR controller were designed.…”

Section: Introductionmentioning

confidence: 99%

“…In the literature, few works have reported the development of ADRC for TWSBR, e.g. [31], [32], [33], [13], [34], [35]; Nevertheless, their results only include numerical results [13], [34], [35], linear extended state observer LESO design [36], and tests in small prototype development [31], [32], [33]. For example, in [37], a tracking control based on nonlinear disturbance observer and sliding mode is developed for a TWSBR.…”

Section: Introductionmentioning

confidence: 99%

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ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

Muñoz-Hernandez,

Díaz-Téllez,

Estevez-Carreon

et al. 2023

IEEE Access

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In this investigation, ROS-based robust attitude control is designed for a two-wheeled selfbalancing mobile robot (TWSBR) using the active disturbance rejection control (ADRC) technique. The designed ROS framework contemplates communication between topics for the desired robot commands and distributed framework design. This open architecture allows the integration of sensors, actuators, and processors. The architecture includes User-Friendly Interface, storage, navigation, control, and drivers. The low-cost robot was designed for educational purposes. It uses an Arduino Mega as a low-level processing unit, a Raspberry Pi 4 as a companion computer where high-level commands are processed, an MPU6050 Inertial Measurement Unit sensor, DC motors GW4058-555 with quadrature type encoder with two phases, the VNH2SP30 controller module used as the power stage and a Lithium Polymer (Li-Po) battery (11.1 V, 2200 mah) is used as the power source. The robust control algorithm is designed through the ADRC methodology based on the extended state observer (ESO). The ESO simultaneously estimates external disturbances, model uncertainties, and unmodeled dynamics such as friction, engine wear, and tire slippage. The stability of the developed controller is analyzed via the Lyapunov stability theory. Real-time experimental results are carried out under the regulation and rejection of external disturbances. The control algorithm is light and easy to implement and adjust in integrated systems with low computer resources. INDEX TERMS ADRC, ESO, Mobile Robot, ROS, Two-wheeled self-balancing, Segway.

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“…Proposition 1: Consider the angular dynamics (12) and ESO (13). Then, the estimation error behavior satisfies the ISS property.…”

Section: A Extended State Observer Designmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

Muñoz-Hernandez,

Díaz-Téllez,

Estevez-Carreon

et al. 2023

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Most dedicated to the design of linear and time-invariant controls (LTI). For example, in [39], [40], [41], [42], [43], [44] a proportional-integral-derivative PID control is proposed. An optimal quadratic linear regulator LQR at [45], [47], [48], [49], [50].…”

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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“…Los observadores han sido ampliamente aplicados en sistemas de robótica móvil. Por ejemplo en (Lima-Pérez et al, 2021) se propone un control para un robot de dos ruedas tipo péndulo invertido utilizando un observador de estados. En (González et al, 2012) se hace uso de observadores de estados en robots móviles aéreos, aplicando una retroalimentación de estados, estimando los estados no medibles del robot.…”

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Control-observador para seguimiento en un robot diferencial de segundo orden

Castro-Romero,

Garcia-Lozano,

Santiaguillo-Salinas

et al. 2024

ICBI

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En este trabajo se presenta el diseño de un control con observador de estados para el seguimiento de trayectoria de un robot móvil diferencial. El modelo matemático del robot se construye con base en una extensión cinemática de segundo orden. Las velocidades lineales del modelo extendido no son fácilmente medibles, para lo cual se utiliza un observador de estados. Con el control (linealización entrada/salida) y utilizando los estados observados se garantiza la convergencia a cero del error, entre la trayectoria deseada y los estados. Los resultados teóricos, se validan por medio de una simulación numerica con el software Matlab Simulink.

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Robust Control of a Two-Wheeled Self-Balancing Mobile Robot

Cited by 5 publications

References 18 publications

ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

ADRC Attitude Controller Based on ROS for a Two-Wheeled Self-Balancing Mobile Robot

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

Control-observador para seguimiento en un robot diferencial de segundo orden

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