Modeling and control of a novel narrow vehicle

Feng Ding, Jian Huang, Yongji Wang, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

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

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages1130-1135
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: Dec 14 2010Dec 18 2010

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Other

Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
CountryChina
CityTianjin
Period12/14/1012/18/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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  • Cite this

    Ding, F., Huang, J., Wang, Y., Matsuno, T., Fukuda, T., & Sekiyama, K. (2010). Modeling and control of a novel narrow vehicle. In 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 (pp. 1130-1135). [5723487] (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010). https://doi.org/10.1109/ROBIO.2010.5723487