Modeling and control for UW-Car in rough terrain

Lifei Mao, Jian Huang, Feng Ding, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, UW-Car, which is composed of an MWIP system and a movable seat is proposed. The reduced-order dynamic model of a UW-Car system running in a rough terrain is obtained by applying Lagrangian motion equations. A sliding mode control approach is proposed based on the dynamic model. Comparing with the linear quadratic regulator (LQR) approach, the new method guarantees that a UW-Car system can run in a rough terrain while keeping the body upright and the seat on some fixed position. The theoretical results are finally demonstrated through numerical simulations.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages3747-3752
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China
Duration: Jul 6 2012Jul 8 2012

Other

Other10th World Congress on Intelligent Control and Automation, WCICA 2012
CountryChina
CityBeijing
Period7/6/127/8/12

Fingerprint

Railroad cars
Pendulums
Seats
Dynamic models
Intelligent vehicle highway systems
Sliding mode control
Equations of motion
Robotics
Computer simulation

Keywords

  • Mobile Wheeled Inverted Pendulum (MWIP)
  • Rough terrain List key index terms here
  • Sliding Mode Control (SMC)
  • Underactuated mechanical systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Mao, L., Huang, J., Ding, F., Fukuda, T., & Matsuno, T. (2012). Modeling and control for UW-Car in rough terrain. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA) (pp. 3747-3752). [6359097] https://doi.org/10.1109/WCICA.2012.6359097

Modeling and control for UW-Car in rough terrain. / Mao, Lifei; Huang, Jian; Ding, Feng; Fukuda, Toshio; Matsuno, Takayuki.

Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2012. p. 3747-3752 6359097.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mao, L, Huang, J, Ding, F, Fukuda, T & Matsuno, T 2012, Modeling and control for UW-Car in rough terrain. in Proceedings of the World Congress on Intelligent Control and Automation (WCICA)., 6359097, pp. 3747-3752, 10th World Congress on Intelligent Control and Automation, WCICA 2012, Beijing, China, 7/6/12. https://doi.org/10.1109/WCICA.2012.6359097
Mao L, Huang J, Ding F, Fukuda T, Matsuno T. Modeling and control for UW-Car in rough terrain. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2012. p. 3747-3752. 6359097 https://doi.org/10.1109/WCICA.2012.6359097
Mao, Lifei ; Huang, Jian ; Ding, Feng ; Fukuda, Toshio ; Matsuno, Takayuki. / Modeling and control for UW-Car in rough terrain. Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2012. pp. 3747-3752
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