Sliding-Mode Control for Transformation to an Inverted Pendulum Mode of a Mobile Robot With Wheel-Arms

Abstract

This paper proposes a control method for locomotion mode transformation of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. Since the initial state of the system is far away from the target equilibrium point of the wheeled inverted pendulum system, we use a nonlinear controller based on sliding mode control. In contrast that the previous transformation methods cannot control the robot velocity until the robot body is lifted up, the proposed method can take into account the robot velocity from the beginning of the transformation, which enables to complete the transformation in a smaller space. To analyze the asymptotic stability of the control system on the sliding surface, we derive an invariant set in which the system state converges to the origin without going out. Furthermore, the effectiveness of the proposed method is demonstrated in both simulations and real robot experiments.

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

“…A large body Munzir Zafar, Seth Hutchinson and Evangelos A. Theodorou are with the Institute of Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, 30332, USA. email: mzafar7@gatech.edu, seth@gatech.edu, evangelos.theodorou@gatech.edu of literature exists to deal with these typical problems of WIP systems [3], [6], [20], [22]- [36]. However, the focus of most studies remains a simplified system having one-link attached to the wheels.…”

Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Disturbance Compensation for Position Tracking of Electric Cylinder

“…Due to the fact that the sliding mode control has many advantages, such as fast response, robustness to parameter variations and external disturbances, and simple realization, sliding model control (SMC) has been widely used in robot, aircraft, and so on [27,28]. The conventional sliding model control is linear, whose system tracking error cannot converge to zero within a fixed time, while terminal sliding mode control (TSMC), which has a nonlinear switching manifold, has high performance that can reach the equilibrium in finite time [22,29].…”

Nonlinear sliding mode control of a two-wheeled mobile robot system

“…This approach has been widely employed (see, e.g. Mu et al (2015); Fukushima et al (2015); Zhao et al (2015); Zhen et al (2014)). Moreover, the sliding mode approach can also be used to deal with systems in the presence of unmatched uncertainty under suitable conditions even for time delay systems (see, e.g.…”