Название: Robust and Intelligent Control of a Typical Underactuated Robot: Mobile Wheeled Inverted PendulumАвтор: Jian Huang, Mengshi Zhang, Toshio Fukuda
Издательство: Springer
Год: 2023
Страниц: 123
Язык: английский
Формат: pdf (true), epub
Размер: 29.3 MB
The mobile wheeled inverted pendulum (MWIP) is a typical underactuated robotic system, which is widely used in modern urban transportation vehicles aiming at solving the last mile problem. This book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP's dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Finally, the future development of underactuated robot has been prospected.
Since the dynamic model of MWIP is the prerequisite for its control design, this book firstly introduces the modeling procedure of MWIP, in both two-dimensional and three-dimensional cases. Second, to deal with the internal/external uncertainties, we lumped the uncertainties into a single disturbance term and designed a novel high-order disturbance observer (HODO) to online estimate this disturbance term. With the compensation of disturbance, a new high-order disturbance observer-based sliding mode control (HODOSMC) strategy is proposed. Third, considering the chattering problem in sliding mode control (SMC), this book introduces two approaches for the MWIP. One is the adaptive super-twisting algorithm, which is a second-order SMC strategy and able to efficiently alleviate the chattering phenomenon. The other is the terminal sliding mode control (TSMC), which can ensure that all variables converge to the expected value in a limited time. Next, to better model and cope with uncertainties, the interval type-2 fuzzy sets (IT2 FSs) are introduced to design a new fuzzy controller for the MWIP system. The proposed controller can control its balance, position, and direction simultaneously. Finally, all the proposed control approaches are implemented in a physical MWIP platform. Various experiments are conducted, and the results demonstrate that these approaches are effective to solve the uncertainty problems in controlling MWIP.
This book mainly presents theoretical explorations for controlling MWIP systems. Readers can systematically study the MWIP system, including its modeling, controller design, stability analysis, numerical simulation, and experimental platform construction. The book is primarily intended for researchers and engineers in the robotics and control community. It can also serve as complementary reading for nonlinear system theory and underactuated robotic control techniques at the postgraduate level.
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