Abstract
There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.
| Original language | English |
|---|---|
| Article number | 5512655 |
| Pages (from-to) | 750-758 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Robotics |
| Volume | 26 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Aug 2010 |
| Externally published | Yes |
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Keywords
- Mobile-wheeled inverted pendulum (MWIP)
- robust control
- sliding-mode control (SMC)
- stability
- underactuated systems
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems. / Huang, Jian; Guan, Zhi Hong; Matsuno, Takayuki; Fukuda, Toshio; Sekiyama, Kosuke.
In: IEEE Transactions on Robotics, Vol. 26, No. 4, 5512655, 08.2010, p. 750-758.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems
AU - Huang, Jian
AU - Guan, Zhi Hong
AU - Matsuno, Takayuki
AU - Fukuda, Toshio
AU - Sekiyama, Kosuke
PY - 2010/8
Y1 - 2010/8
N2 - There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.
AB - There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.
KW - Mobile-wheeled inverted pendulum (MWIP)
KW - robust control
KW - sliding-mode control (SMC)
KW - stability
KW - underactuated systems
UR - http://www.scopus.com/inward/record.url?scp=77955580846&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955580846&partnerID=8YFLogxK
U2 - 10.1109/TRO.2010.2053732
DO - 10.1109/TRO.2010.2053732
M3 - Article
AN - SCOPUS:77955580846
VL - 26
SP - 750
EP - 758
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 4
M1 - 5512655
ER -