oalogo2  

AUTHOR(S):

Ahmed J. Abougarair, Elfituri S. Elahemer

 

TITLE

Balancing Control of Two Wheeled Mobile Robot Based on Decoupling Controller

pdf PDF

ABSTRACT

Nowadays, Two Wheeled Inverted Pendulum Mobile Robots (TWIPMR) are being used widely in many different applications. It’s very important to ensure that the robot is able to stabilize itself when it moves forward and backward. Stabilization and the trajectory tracking of the robot has gained extensive momentum and become increasingly popular with researchers around the world. In addition, the robot must regulate the steering angle when it turns left or right must be considered in control design and analysis beside stability and the trajectory tracking. To achieve these, two decoupling optimal controllers based on Linear Quadratic Regulator (LQR) design method are proposed in this paper to robustly balance the robot platform and to generate the required optimal control signals under any external disturbances. The simulation results are provided to show the effectiveness of the proposed designed control method to get an accurate tracking signal of the desired trajectory. Furthermore, the 3D representation of the simulation and a visualization model to observe robot behavior in different scenarios is included

KEYWORDS

TWIPMR - LQR controller - Decoupling Controller - VRML mode

REFERENCES

[1] Jian Xin,Zhao Qin Guo and Tong Heng Lee “Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot,” IEEE Transactions on industrial electronics, Vol. 61, No. 7, JULY 2014.

[2] Chenguang Yang, Zhijun Li Rongxin Cui and Bugong, “Neural Network Based Motion Control of Underactuated Wheeled Inverted Pendulum Models,” IEEE Transactions on neural Networks and learning systems, Vol. 25, No. 11, November 2014.

[3] Hongguo Niu, Niu Wang and Nan Li, “The adaptive Control Based on BP Neural Network Identification for Two Wheeled Robot,” 12th World Congress on Intelligent ontrol and Automation (WCICA),June 12-15, China, 2016.

[4] Ahmad and Osman, “Real-Time Control System for a Two-Wheeled Inverted Pendulum Mobile Robot,” Advanced Knowledge Application in Practice University Technology, Malaysia, 2015.

[5] Steven J. Witzand, “Coordinated LEGO Segways,” MSc The University of New South Wales, 2009.

[6] A.S. Andreyev, O.A. Peregudova, “The motion control of a wheeled mobile robot”, Journal of Applied Mathematics and Mechanics,2015.

[7] Felix Grasser, “JOE: A Mobile, Inverted Pendulum,” Laboratory of Industrial Electronics Switzerland, 2015.

[8] Shinya Akiba,” Optimal tracking control of two-wheeled mobile robots based on model predictive control” The 11th IEEE International Workshop on Advanced Motion Control March 21-24, 2010, Nagaoka, Japan

[9] Shagging Jiang, Fuquan Dai, Ling Li and Xueshan Gao,” Modeling and LQR Control of a Multi-DOF Two-wheeled Robot”,Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics December 5-10, 2014, Bali, Indonesia

[10] Wei An and Yangmin Li, “Simulation and Control of a Two-wheeled Self-balancing Robot,” Proceeding of the IEEE, International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, December 2013.

Cite this paper

Ahmed J. Abougarair, Elfituri S. Elahemer. (2018) Balancing Control of Two Wheeled Mobile Robot Based on Decoupling Controller. International Journal of Control Systems and Robotics, 3, 1-7

 

cc.png
Copyright © 2018 Author(s) retain the copyright of this article.
This article is published under the terms of the Creative Commons Attribution License 4.0