Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory

The two-wheeled inverted pendulum vehicle yields wide application prospects due to its compact construction, convenient operation, high maneuverability, and low fuel consumption. However, influenced by the underactuated characteristic, it is very difficult to achieve satisfactory control performances besides holding the vehicle body to be stable. In this study, based on the nonlinear dynamic model, the overall system is considered as three subsystems: rotational motion, longitudinal motion, and zero dynamics. Particularly, the tilt angle of the vehicle is treated as zero dynamics where the longitudinal acceleration is taken as the control input. With the control effects, the zero-dynamics subsystem could come up to be stable. Based upon the zero dynamics, the controllers for rotational and longitudinal subsystems are constructed in the following. In addition, the sliding-mode control techniques are used to derive the controllers since their insensitive characteristic to parameter variation and disturbance rejection.

[1]  S. Ge,et al.  Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems , 2004, IEEE/ASME Transactions on Mechatronics.

[2]  Khac Duc Do,et al.  Motion Control of a Two-Wheeled Mobile Vehicle with an Inverted Pendulum , 2010, J. Intell. Robotic Syst..

[3]  Shin'ichi Yuta,et al.  Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot , 1996, Robotics Auton. Syst..

[4]  Xinghuo Yu,et al.  Sliding-Mode Control With Soft Computing: A Survey , 2009, IEEE Transactions on Industrial Electronics.

[5]  Xiaomei Yan,et al.  Modified projective synchronization of fractional-order chaotic systems based on active sliding mode control , 2013, 2013 25th Chinese Control and Decision Conference (CCDC).

[6]  Min Wu,et al.  Global stabilization of 2-DOF underactuated mechanical systems—an equivalent-input-disturbance approach , 2012 .

[7]  Mou Chen,et al.  Disturbance-observer-based robust synchronization control of uncertain chaotic systems , 2012 .

[8]  Shuzhi Sam Ge,et al.  Adaptive stabilization of uncertain nonholonomic systems by state and output feedback , 2003, Autom..

[9]  Wei Sun,et al.  Path following of a class of non-holonomic mobile robot with underactuated vehicle body , 2010 .

[10]  Soohyun Kim,et al.  Improving driving ability for a two-wheeled inverted-pendulum-type autonomous vehicle , 2006 .

[11]  D. Bernstein,et al.  Global stabilization of the oscillating eccentric rotor , 1994 .

[12]  Alfred C. Rufer,et al.  JOE: a mobile, inverted pendulum , 2002, IEEE Trans. Ind. Electron..

[13]  W. Blajer,et al.  Control of underactuated mechanical systems with servo-constraints , 2007 .

[14]  Yunong Zhang,et al.  Robust adaptive motion/force control for wheeled inverted pendulums , 2010, Autom..

[15]  Ning Sun,et al.  An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation , 2012 .

[16]  Shuzhi Sam Ge,et al.  Nonregular feedback linearization: a nonsmooth approach , 2003, IEEE Trans. Autom. Control..

[17]  Keng Peng Tee,et al.  Approximation-based control of uncertain helicopter dynamics , 2009 .

[18]  Tong Heng Lee,et al.  Synthesized design of a fuzzy logic controller for an underactuated unicycle , 2012, Fuzzy Sets Syst..

[19]  Dennis S. Bernstein,et al.  Direct adaptive command following and disturbance rejection for minimum phase systems with unknown relative degree , 2007 .

[20]  Kaustubh Pathak,et al.  Velocity and position control of a wheeled inverted pendulum by partial feedback linearization , 2005, IEEE Transactions on Robotics.

[21]  Louis-François Pau,et al.  Sensor data fusion , 1988, J. Intell. Robotic Syst..

[22]  Ching-Chih Tsai,et al.  Adaptive Robust Self-Balancing and Steering of a Two-Wheeled Human Transportation Vehicle , 2011, J. Intell. Robotic Syst..