Differential Flatness-Based Robust Control of Self-balanced Robots

Liang, Dingkun; Sun, Ning; Wu, Yiming; Fang, Yongchun

doi:10.1016/j.ifacol.2018.10.058

Cited by 7 publications

(7 citation statements)

References 23 publications

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“…From formula (13)(14)(15), determine the dynamic equation of a non-holonomic mobile robot that can be described as:…”

Section: Dynamics Of Non-holonomic Wheeled Mobile Robot (Wmr)mentioning

confidence: 99%

“…Accelerometers were used in [13] to compensate for wheel slippage in real time. The work in [14] developed a robust controller that handles both sliding speed and sliding acceleration using the coordinate system of differential flatness. In [15], the authors proposed a brake control system to prevent lateral skidding of commercial aircraft wheels using the backstepping method.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheel Slip for Mobile Robot

Hà,

Thuong,

Thanh

et al. 2023

Preprint

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In this article, the research team has systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These are control algorithms developed based on Dynamic Surface Control (DSC). Adaptive trajectory tracking DSC algorithm using fuzzy logic system (AFDSC) and radial neural network (RBFNN) with fuzzy logic system to overcome the disadvantages of DSC and expand the application domain for wheeled Mobile Robots (WMR). However, this Adaptive Fuzzy Neural Network Dynamic Surface Control (AFNNDSC) adaptive controller ensures the closed system is stable and follows the preset trajectory in the presence of wheel slippage model uncertainty and is affected by significant amplitude disturbances. The stability and convergence of the closed-loop system are guaranteed based on the Lyapunov analysis. The AFNNDSC adaptive controller is evaluated by simulation on MATLAB/Simulink software and in a steady state. The maximum position error on the right wheel and left wheel is 0.000572 (m) and 0.000523 (m), and the angular velocity tracking error in the right and left wheels of the control method is 0.000394 (rad/s). The experimental results show the correctness of the theoretical analysis, the effectiveness of the proposed controller, and the possibility of practical application.

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“…From formula (13)(14)(15), determine the dynamic equation of a non-holonomic mobile robot that can be described as:…”

Section: Dynamics Of Non-holonomic Wheeled Mobile Robot (Wmr)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheel Slip for Mobile Robot

Hà,

Thuong,

Thanh

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Accelerometers were used in [17] to compensate for wheel slippage in real time. The work in [18] developed a robust controller that handles both sliding speed and sliding acceleration using the coordinate system of differential flatness. In [19], the authors proposed a brake control system to prevent lateral skidding of commercial aircraft wheels using the backstepping method.…”

Section: Introductionmentioning

confidence: 99%

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheeled Slip for Mobile Robot

Hà,

Thuong,

Thanh

et al. 2024

Actuators

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In this article, the research team systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These control algorithms were developed based on dynamic surface control (DSC). An adaptive trajectory tracking DSC algorithm using a fuzzy logic system (AFDSC) and a radial neural network (RBFNN) with a fuzzy logic system were used to overcome the disadvantages of DSC and expand the application domain for non-holonomic wheeled mobile robots with lateral slip (WMR). However, this adaptive fuzzy neural network dynamic surface control (AFNNDSC) adaptive controller ensures the closed system is stable, follows the preset trajectory in the presence of wheel slippage model uncertainty, and is affected by significant amplitude disturbances. The stability and convergence of the closed-loop system are guaranteed based on the Lyapunov analysis. The AFNNDSC adaptive controller is evaluated by simulation on the Matlab/simulink software R2022b and in a steady state. The maximum position error on the right wheel and left wheel is 0.000572 (m) and 0.000523 (m), and the angular velocity tracking error in the right and left wheels of the control method is 0.000394 (rad/s). The experimental results show the theoretical analysis’ correctness, the proposed controller’s effectiveness, and the possibility of practical applications. Orbits are set as two periodic functions of period T as follows.

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“…[18] defined the immovable point (a kind of flat output) to create a chain of higher-order differential equation and then applied the phase plane based design method for the threesegment trajectory planning using the linearized dynamic equation of the WIP. [19] also constructed flat outputs to set up a differentially flat system with linearization for the WIP. However, the flat output method is essentially unapplicable to the situations where the system's output (usually the control point) is different from the system's flat output, which is not arbitrarily selectable.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique

Kim,

Park,

Park

et al. 2023

IEEE Access

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This paper presents a real-time trajectory planning method for highly dynamic tracking control of wheeled inverted pendulum (WIP) systems. A generic form of dynamic inversion problem for the class of WIPs is defined by combining a set of kinematic and dynamic differential constraints related to the system's output expressed by the state variables, whose time evolution is to be sought as the solution of the trajectory planning. Instead of simply integrating forward the set of differential equations, which would lead only to an unbounded solution due to its non-minimum phase nature, an asymptotic expansion technique, transforming the original differential equations into a sequence of algebraic equations parameterized by the system's characteristic constant, is used to allow for a stable and asymptotically exact solution of the dynamic inversion problem. To implement the proposed method to a real-time application where the reference command is not known a priori, a command input filter is designed and applied to adjust the realtime input into a sufficiently differentiable reference command suitable for the inversion. Simulation and experimental studies are provided to validate the proposed method using our experimental WIP system.INDEX TERMS Wheeled inverted pendulum, dynamic inversion, real-time trajectory planning, singular perturbation technique, balancing robot, underactuated system.

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Differential Flatness-Based Robust Control of Self-balanced Robots

Cited by 7 publications

References 23 publications

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheel Slip for Mobile Robot

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheel Slip for Mobile Robot

Research on Some Control Algorithms to Compensate for the Negative Effects of Model Uncertainty Parameters, External Interference, and Wheeled Slip for Mobile Robot

Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique

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