TY - GEN
T1 - Modeling and control of a novel narrow vehicle
AU - Ding, Feng
AU - Huang, Jian
AU - Wang, Yongji
AU - Matsuno, Takayuki
AU - Fukuda, Toshio
AU - Sekiyama, Kosuke
PY - 2010/12/1
Y1 - 2010/12/1
N2 - There is a growing interest on narrow vehicles which can partially solve the parking, congestion and pollution issues associated with urban transportation. A novel narrow vehicle, UW-Car, which is based on a mobile wheeled inverted pendulum (MWIP) platform and a movable seat is proposed in the paper. The three dimensional dynamic model of the underactuated system running on the flat ground is derived by using Lagrange's motion equation. Because of the strong nonlinearity of the UW-Car system, a sliding mode control (SMC) scheme is chosen to ensure the state variables converge to desired values. The velocity control of UW-Car is discussed in this paper. By using the proposed controller, a UW-Car can move at a desired velocity and tracking a given yaw angle velocity while keeping the seat to be always upright. Numerical simulations are provided to verify and illustrate the effectiveness of proposed approaches.
AB - There is a growing interest on narrow vehicles which can partially solve the parking, congestion and pollution issues associated with urban transportation. A novel narrow vehicle, UW-Car, which is based on a mobile wheeled inverted pendulum (MWIP) platform and a movable seat is proposed in the paper. The three dimensional dynamic model of the underactuated system running on the flat ground is derived by using Lagrange's motion equation. Because of the strong nonlinearity of the UW-Car system, a sliding mode control (SMC) scheme is chosen to ensure the state variables converge to desired values. The velocity control of UW-Car is discussed in this paper. By using the proposed controller, a UW-Car can move at a desired velocity and tracking a given yaw angle velocity while keeping the seat to be always upright. Numerical simulations are provided to verify and illustrate the effectiveness of proposed approaches.
UR - http://www.scopus.com/inward/record.url?scp=79952922365&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2010.5723487
DO - 10.1109/ROBIO.2010.5723487
M3 - Conference contribution
AN - SCOPUS:79952922365
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1130
EP - 1135
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -
