TY - GEN
T1 - Modeling and control for UW-Car in rough terrain
AU - Mao, Lifei
AU - Huang, Jian
AU - Ding, Feng
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
KW - Mobile Wheeled Inverted Pendulum (MWIP)
KW - Rough terrain List key index terms here
KW - Sliding Mode Control (SMC)
KW - Underactuated mechanical systems
UR - http://www.scopus.com/inward/record.url?scp=84872319740&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872319740&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2012.6359097
DO - 10.1109/WCICA.2012.6359097
M3 - Conference contribution
AN - SCOPUS:84872319740
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3747
EP - 3752
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -