Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot

Nonlinear control of mobile inverted pendulum

“…If z 2 < 0, C< 0 in (26) From case-1 and case-2, it is observed that the value of C plays a major role in stabilizing the MIP at z 2 = z 3 = 0 and similar motion control can be obtained if we make C= k 6 sign(z 5 )…”

“…Table II shows the system parameters, which are preferably chosen from [26], since it uses a heavier mass in the pendulum. All the simulations were carried out for a non zero initial condition.…”

“…In [25], velocity control of MIP under uncertainty is investigated using sliding mode control, whereas in [17]- [19], neural adaptive controllers are designed for the trajectory tracking of MIP in uncertain condition. A linear position tracking controller is developed in [26] using a smooth coordinate transformation. Most of the control techniques proposed in the literatures concentrate on trajectory tracking with linear controllers and the controller designed for three 3 degrees of freedom point-to-point stabilization needs switching between the controllers [29].…”

“…If z 2 > 0, C< 0 in (26) and the motion of the robot in z 3 = 0 line will make the pendulum angle z 6 to zero, which results in (25). At this instant z 5 < 0 causes a stabilizing motion at a constant velocity towards z 2 = 0 line.…”

Comparative Study of Stabilization Controls of a Forklift Vehicle

“…A switched pivot and longitudinal motions are also performed for point stabilization for a differential wheel robot with inverted pendulum Yue et al (2019). Lyapunov method is established for the stabilization of mobile robot with inverted pendulum in Muralidharan and Mahindrakar (2014). Simultaneous stabilization and tracking of a nonholonomic robot using Lyapunov based approach is proposed in Wand et al (2015).…”