TY - GEN
T1 - A multi-DOF two-wheel inverted pendulum robot on the uneven terrain
AU - Liu, Yubai
AU - Gao, Xueshan
AU - Shahzad, Adil
AU - Cui, Dengqi
AU - Dai, Fuquan
N1 - Publisher Copyright:
© 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.
PY - 2016
Y1 - 2016
N2 - A multi-DOF two-wheel inverted pendulum (MD-TWIP) robot navigating on the uneven surface is presented in this paper. The motion on the uneven surface is regarded as a continuous conversion among ascent, descent and horizontal movements. Thus, the dynamics of the MD-TWIP is formed by introducing the gradient of the slope. Particularly, the MD-TWIP is an unstable and under-actuated complex system. To achieve the satisfied performance of the equilibrium control and trajectory planning even on fluctuant terrain, the system should have strong immunity to the disturbance and a wide range of system parameters acceptance. Thus, Mamdami-like fuzzy control theory is employed in designing the two controllers of equilibrium control and trajectory planning. The simulation results prove the vitality of system modeling and the implementation on the self-built real-time prototype proves the effectiveness of the proposed control scheme.
AB - A multi-DOF two-wheel inverted pendulum (MD-TWIP) robot navigating on the uneven surface is presented in this paper. The motion on the uneven surface is regarded as a continuous conversion among ascent, descent and horizontal movements. Thus, the dynamics of the MD-TWIP is formed by introducing the gradient of the slope. Particularly, the MD-TWIP is an unstable and under-actuated complex system. To achieve the satisfied performance of the equilibrium control and trajectory planning even on fluctuant terrain, the system should have strong immunity to the disturbance and a wide range of system parameters acceptance. Thus, Mamdami-like fuzzy control theory is employed in designing the two controllers of equilibrium control and trajectory planning. The simulation results prove the vitality of system modeling and the implementation on the self-built real-time prototype proves the effectiveness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=84999838247&partnerID=8YFLogxK
U2 - 10.1142/9789813149137_0062
DO - 10.1142/9789813149137_0062
M3 - Conference contribution
AN - SCOPUS:84999838247
SN - 9789813149120
T3 - Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
SP - 523
EP - 530
BT - Advances in Cooperative Robotics
PB - World Scientific Publishing Co. Pte Ltd
T2 - 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
Y2 - 12 September 2016 through 14 September 2016
ER -