Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique

Yue, Ming; An, Cong; Sun, Jinwei

doi:10.1080/00207179.2016.1169440

Cited by 15 publications

(9 citation statements)

References 31 publications

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“…For the following control synthesis of TWIP in 3D, the whole dynamics is decoupled into two independent sub-system, the longitudinal system and rotational system, the approach of which has been used by Grasser et al (2002), Lin et al (2011) and Yue et al (2016).…”

Section: Control Architecturementioning

confidence: 99%

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Control of the two-wheeled inverted pendulum (TWIP) robot in presence of model uncertainty and motion restriction

Zhou

Feng

et al. 2020

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Purpose The purpose of this paper is to improve control performance and safety of a real two-wheeled inverted pendulum (TWIP) robot by dealing with model uncertainty and motion restriction simultaneously, which can be extended to other TWIP robotic systems. Design/methodology/approach The inequality of lumped model uncertainty boundary is derived from original TWIP dynamics. Several motion restriction conditions are derived considering zero dynamics, centripedal force, ground friction condition, posture stability, control torque limitation and so on. Sliding-mode control (SMC) and model predictive control (MPC) are separately adopted to design controllers for longitudinal and rotational motion, while taking model uncertainty into account. The reference value of the moving velocity and acceleration, delivered to the designed controller, should be restricted in a specified range, limited by motion restrictions, to keep safe. Findings The cancelation of model uncertainty commonly existing in real system can improve control performance. The motion commands play an important role in maintaining safety and reliability of TWIP, which can be ensured by the proposed motion restriction to avoid potential movement failure, such as slipping, lateral tipping over because of turning and large fluctuation of body. Originality/value An inequation of lumped model uncertainty boundary incorporating comprehensive errors and uncertainties of system is derived and elaborately calculated to determine the switching coefficients of SMC. The motion restrictions for TWIP robot moving in 3D are derived and used to impose constraints on reference trajectory to avoid possible instability or failure of movement.

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Section: Control Architecturementioning

confidence: 99%

“…To solve equation ( 42), the QP method is exploited to obtain the optimal control torque for rotational motion, which has been used by Yue et al (2016) and Li et al (2016).…”

Section: Rotational Motion Controlmentioning

confidence: 99%

Control of the two-wheeled inverted pendulum (TWIP) robot in presence of model uncertainty and motion restriction

Zhou

Feng

et al. 2020

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“…1. This robot has been widely used as a test bed for nonlinear controls of UMSs, such as [11], [41]- [43]. In this paper, in order to highlight the characteristic of underactuation of the TWSBR and simplify the operation, we simplify the robot to a two-dimensional plane as shown in FIGURE.…”

Section: An Illustrative Examplementioning

confidence: 99%

“…However, complex internal dynamics, lack of feedback linearization and nonholonomic behavior also accompany UMSs, which increase the difficulty of designing controller for such systems. Even so, many brilliant work for such systems have been achieved in control field, such as sliding-mode [8]- [10], LQR [11], partial feedback linearization [12], [13], LMI [14], [15], H ∞ [16] and so on. However, most of the control methods mentioned above are difficult to deal with nonholonomic servo constraints [17].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

et al. 2019

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To address the uncertainty existing in underactuated mechanical systems (UMSs) and their nonholonomic servo constraints, we propose a class of adaptive robust control based on the Moore-Penrose generalized inverse for UMSs in this paper. The uncertainty is considered as (possible fast) time-varying and bounded. However, the bound is unknown. To estimate the bound information, an adaptive law is designed, which combines leakage type and dead-zone type. This adaptive law can simultaneously regulate the control effort and computation speed. The proposed control can guarantee deterministic system performance, which is analyzed by using Lyapunov method. The effectiveness of proposed control is shown by an example of simplified two-wheeled self-balancing robot. INDEX TERMS Underactuated mechanical systems, servo constraints, adaptive robust control, adaptive law, Moore-Penrose generalized inverse.

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“…The system describing these "internal" behaviors can be defined as zero dynamics (Isidori, 1995;Khalil, 2001). The stability performance for the zero dynamics is a key part to ensure the effectiveness of the controller (Hernandez, Castanos, & Fridmana, 2016;Nguyen, Ha, & Lee, 2015;Yue, An, & Sun, 2016). A new type of stability performances called as partially input-to-state stable, is given to solve the stability problem of the zero dynamics of the underactuated multibody systems.…”

Section: Introductionmentioning

confidence: 99%

Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links

Mao

Tao

Jiang

et al. 2019

International Journal of Control

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Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique

Cited by 15 publications

References 31 publications

Control of the two-wheeled inverted pendulum (TWIP) robot in presence of model uncertainty and motion restriction

Control of the two-wheeled inverted pendulum (TWIP) robot in presence of model uncertainty and motion restriction

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links

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