Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation

Kim, Yongkuk; Kwon, SangJoo

doi:10.3390/act11110339

Cited by 4 publications

(3 citation statements)

References 29 publications

(63 reference statements)

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“…The wheels are characterized as circular discs and both have the same mass and radius. Therefore, their moment of inertia can be expressed by Eq (23).…”

Section: Plos Onementioning

confidence: 99%

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Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

Choudhry,

Wasim,

Ali

et al. 2023

PLoS ONE

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A comprehensive literature review of self-balancing robot (SBR) provides an insight to the strengths and limitations of the available control techniques for different applications. Most of the researchers have not included the payload and its variations in their investigations. To address this problem comprehensively, it was realized that a rigorous mathematical model of the SBR will help to design an effective control for the targeted system. A robust control for a two-wheeled SBR with unknown payload parameters is considered in these investigations. Although, its mechanical design has the advantage of additional maneuverability, however, the robot’s stability is affected by changes in the rider’s mass and height, which affect the robot’s center of gravity (COG). Conventionally, variations in these parameters impact the performance of the controller that are designed with the assumption to operate under nominal values of the rider’s mass and height. The proposed solution includes an extended Kalman filter (EKF) based sliding mode controller (SMC) with an extensive mathematical model describing the dynamics of the robot itself and the payload. The rider’s mass and height are estimated using EKF and this information is used to improve the control of SBR. Significance of the proposed method is demonstrated by comparing simulation results with the conventional SMC under different scenarios as well as with other techniques in literature. The proposed method shows zero steady state error and no overshoot. Performance of the conventional SMC is improved with controller parameter estimation. Moreover, the stability issue in the reaching phase of the controller is also solved with the availability of parameter estimates. The proposed method is suitable for a wide range of indoor applications with no disturbance. This investigation provides a comprehensive comparison of available techniques to contextualize the proposed method within the scope of self-balancing robots for indoor applications.

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“…The wheels are characterized as circular discs and both have the same mass and radius. Therefore, their moment of inertia can be expressed by Eq (23).…”

Section: Plos Onementioning

confidence: 99%

“…Kim and Kwon have suggested disturbance compensation method for two-wheel robot. They have solved the problem of disturbance rejection effectively for the robot without rider on it [ 23 ]. In another work, effectiveness of adaptive self-balancing technique has been illustrated by using payloads of 85 kg and 60 kg.…”

Section: Introductionmentioning

confidence: 99%

Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

Choudhry,

Wasim,

Ali

et al. 2023

PLoS ONE

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show abstract

“…In fact, it makes the gain tuning process of any TWIP vehicle challenging even on even surfaces. When the driving surface has the uncertainties of varying slope and ground friction, the conventional linear control methods have certain limits in achieving consistent self-balancing performance and an additional robust control input is necessary, as has been detailed in [18].…”

Section: A Transfer Function Analysismentioning

confidence: 99%

Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

Kim

Kwon

2023

Machines

Self Cite

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When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme.

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Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino

Abdelgawad,

Shohdy,

Nada

2024

IFAC-PapersOnLine

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Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation

Cited by 4 publications

References 29 publications

Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino

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