TY - GEN
T1 - Velocity control for a multi-DOF two-wheel inverted pendulum robot
AU - Gao, Xueshan
AU - Liu, Yubai
AU - Jiang, Shigong
AU - Dai, Fuquan
N1 - Publisher Copyright:
© 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved.
PY - 2015
Y1 - 2015
N2 - Two-wheel inverted pendulum (TWIP) robots attract public attention as environmentally-friendly products for personal transportation in recent years. This paper presents a multi DOF TWIP(MD-TWIP) robot to balance its structure as well as sliding and swinging mechanisms. To fulfill the trajectory planning task, we proposed a robust controller based on the sliding mode theory for equilibrium control. In addition, a velocity control strategy is also introduced based on the T-S fuzzy controller to achieved good results in robot motion. Results are verified in ADAMS and MATLAB platforms simultaneously. Furthermore, the proposed control strategy is implemented on a practical self-designed physical TWIP robot model.
AB - Two-wheel inverted pendulum (TWIP) robots attract public attention as environmentally-friendly products for personal transportation in recent years. This paper presents a multi DOF TWIP(MD-TWIP) robot to balance its structure as well as sliding and swinging mechanisms. To fulfill the trajectory planning task, we proposed a robust controller based on the sliding mode theory for equilibrium control. In addition, a velocity control strategy is also introduced based on the T-S fuzzy controller to achieved good results in robot motion. Results are verified in ADAMS and MATLAB platforms simultaneously. Furthermore, the proposed control strategy is implemented on a practical self-designed physical TWIP robot model.
UR - http://www.scopus.com/inward/record.url?scp=84999886628&partnerID=8YFLogxK
U2 - 10.1142/9789814725248_0063
DO - 10.1142/9789814725248_0063
M3 - Conference contribution
AN - SCOPUS:84999886628
SN - 9789814725231
T3 - Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
SP - 510
EP - 517
BT - Assistive Robotics
PB - World Scientific
T2 - 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
Y2 - 6 September 2015 through 9 September 2015
ER -