Dynamic balance and motion control for wheeled inverted pendulum vehicle via hierarchical sliding mode approach

Dynamic balance and motion control for a class of underactuated wheeled inverted pendulum vehicles that are inherent unstable are investigated in this study. The control objective is to stable the posture of the vehicle platform (longitudinal and rotational position/velocity) as well as hold upright position of the pendulum (tilt angle stability), only with two control inputs generated by the left and right motors. The overall dynamic system is separated into two decoupled subsystems: one is a one-dimensional fully actuated subsystem while the other is a two-dimensional underactuated subsystem. A new hierarchical sliding mode control methodology is first developed to resolve the underactuated problem of this kind of unstable vehicles. The first layer sliding mode surfaces are established upon tilt angle and longitudinal displacement of the vehicle body, respectively; while the second layer sliding mode surface is constructed by the first layer sliding mode surfaces. Consequently, the total control law is deduced, and then the asymptotic stabilities for the overall closed-loop control system are addressed via Lyapunov stability theorem and Barbalat’s Lemma. Numerical simulations illustrate the effectiveness of the proposed control approaches and methodologies.

[1]  Yunong Zhang,et al.  Support vector machine optimal control for mobile wheeled inverted pendulums with unmodelled dynamics , 2010, Neurocomputing.

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

[3]  Yue Ming,et al.  Disturbance adaptive control for an underactuated spherical robot based on hierarchical sliding-mode technology , 2012, Proceedings of the 31st Chinese Control Conference.

[4]  Seul Jung,et al.  Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors , 2012 .

[5]  Jing Li,et al.  Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models , 2013, IEEE Transactions on Cybernetics.

[6]  Ning Sun,et al.  Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs , 2013, Autom..

[7]  Bing Xiao,et al.  Adaptive fault tolerant control using integral sliding mode strategy with application to flexible spacecraft , 2013, Int. J. Syst. Sci..

[8]  Yi Jian.  Hierarchical Sliding-Mode Control Method for Overhead Cranes , 2004 .

[9]  Jie Zhang,et al.  Motion control of mobile under-actuated manipulators by implicit function using support vector machines , 2010 .

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

[11]  Huijun Gao,et al.  State Estimation and Sliding-Mode Control of Markovian Jump Singular Systems , 2010, IEEE Transactions on Automatic Control.

[12]  Jianqiang Yi,et al.  Hierarchical Sliding Mode Control to Swing up a Pendubot , 2007, 2007 American Control Conference.

[13]  Yiqun Liu,et al.  Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints , 2012, J. Appl. Math..

[14]  Shuzhi Sam Ge,et al.  Robust adaptive control of coordinated multiple mobile manipulators , 2008 .

[15]  Yin-Chieh Chang,et al.  Adaptive Hierarchical Sliding Control of Overhead Crane System with Haar Wavelet Function Estimator , 2012 .

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

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

[18]  Jianqiang Yi,et al.  Hierarchical sliding mode control for a class of SIMO under-actuated systems , 2008 .

[19]  Q. Zhan,et al.  Path tracking control of a spherical mobile robot , 2012 .

[20]  Peng Shi,et al.  Sliding Mode Control of Uncertain Stochastic Hybrid Delay Systems with Average Dwell Time , 2011, Circuits, Systems, and Signal Processing.

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

[22]  Jangmyung Lee,et al.  Decoupled Dynamic Control for Pitch and Roll Axes of the Unicycle Robot , 2013, IEEE Transactions on Industrial Electronics.

[23]  Chih-Hui Chiu,et al.  Real-time control of a wheeled inverted pendulum based on an intelligent model free controller , 2011 .

[24]  Chenguang Yang,et al.  Neural-Adaptive Output Feedback Control of a Class of Transportation Vehicles Based on Wheeled Inverted Pendulum Models , 2012, IEEE Transactions on Control Systems Technology.