Modeling and control for UW-Car in rough terrain

Abstract

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. Index Terms -Underactuated mechanical systems; MobileWheeled Inverted Pendulum (MWIP); Sliding Mode Control (SMC); Rough terrain List key index terms here.

Implementation of Mamdami fuzzy control on a multi-DOF two-wheel inverted pendulum robot

“…Two drawbacks of the TWIP system exist as one is the pitch angle to reach the desired velocity and the second is the risk of overturning in sharp turning because of its high center of gravity(CoG). To eliminate the pitch angle error in motion process, an UW-Car which consists of TWIP system and a movable seat is investigated by applying sliding mode control scheme [17,9]. Thus, the robot can reach the target velocity vertically.…”