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 publicationWCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages3747-3752
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Externally publishedYes
Event10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China
Duration: Jul 6 2012Jul 8 2012

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)

Other

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

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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 WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation (pp. 3747-3752). [6359097] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2012.6359097