2022
DOI: 10.3390/act11110339
|View full text |Cite
|
Sign up to set email alerts
|

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

Abstract: Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. In this paper, we suggest a disturbance compensation method that is compatible with unmanned TWIP systems in terms of the nonlinear-model-based disturbanc… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1
1
1

Citation Types

0
1
0

Year Published

2023
2023
2024
2024

Publication Types

Select...
4

Relationship

1
3

Authors

Journals

citations
Cited by 4 publications
(3 citation statements)
references
References 29 publications
(63 reference statements)
0
1
0
Order By: Relevance
“…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%
See 1 more Smart Citation
“…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%
“…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%