Human-friendly motion control of a wheeled inverted pendulum by reduced-order disturbance observer

2008 ◽  
Author(s):  
Dongil Choi ◽  
Jun-Ho Oh
Keyword(s):  
Motion Control ◽  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Reduced Order ◽  
Wheeled Inverted Pendulum

scholarly journals Control of Pushing and Pulling Motion of a Wheeled Inverted Pendulum Based on a Reduced Order Observer

2011 ◽  
Vol 2-3 ◽  
pp. 74-79
Author(s):  
Luis Canete ◽  
Sunao Kimura ◽  
Takayuki Takahashi
Keyword(s):  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Initial Step ◽  
Body Motion ◽  
Whole Body ◽  
Reduced Order ◽  
Wheeled Inverted Pendulum ◽  
Reduced Order Observer ◽  
Pushing And Pulling

In this paper the control of the I-PENTAR, a wheeled inverted pendulum type robot being developed by the authors, for pushing and pulling a cart is examined. To control the movement of the object is being pushed or pulled, information regarding several external parameters, eg. Mass of the object and friction components, must be considered. In most cases these parameters are not known before hand or may change. One method of compensating for these unknown or changing external parameters is to represent them as an equivalent reaction force from the object. Our first subject of this research is to design a disturbance observer to estimate and compensate the equivalent force. Another situation is of pushing and pulling a cart with the inverted pendulum type robot traversing an inclined plane. As an initial step to solving this problem in this paper, a force application method using whole body motion of the inverted pendulum type robot is proposed. The whole body motion means changing the balance of the robot to attain a certain desired force. During application of this force the robot must remain in its stabilized or balanced state. For an inverted pendulum type robot, this instantly poses a major problem. To solve the problem, a reduced order disturbance observer is used in this paper to estimate the force applied by the robot. On the other hand, I-PENTAR is targeted for environments where it can interact with humans and so safety is a major concern. For example, in the event that an obstacle bumps the robot as it is pushing the cart, a large and sudden force estimator based on the disturbance observer is also built into the controller. Simulation and experiments using the reduced order disturbance observer and evaluation of the whole body motion force control are presented.

Motion Control of a Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach

2015 ◽  
Vol 19 (2) ◽  
pp. 293-300
Author(s):  
Qi Shi ◽  
◽  
Zhejun Fang ◽  
Jinhua She ◽  
Junya Imani ◽  
...  
Keyword(s):  
Nonlinear System ◽  
Motion Control ◽  
Coordinate Transformation ◽  
Inverted Pendulum ◽  
Nonlinear Part ◽  
Input Disturbance ◽  
Wheeled Inverted Pendulum ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Equivalent Input Disturbance

This paper presents a new method for controlling the motion of a wheeled inverted pendulum (WIP) based on the equivalent-input-disturbance (EID) approach. Coordinate transformation first transforms the WIP into a simple nonlinear system divided into linear and nonlinear parts. The nonlinear part is then treated as a state-and-input-dependent disturbance, and the EID approach is used to estimate and compensate it. Simulation results of an NXTway-GS demonstrate the validity of the method.

scholarly journals Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
SongHyok Ri ◽  
Jian Huang ◽  
Yongji Wang ◽  
MyongHo Kim ◽  
Sonchol An
Keyword(s):  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Pendulum System ◽  
Nonlinear Disturbance Observer ◽  
Inverted Pendulum System ◽  
Wheeled Inverted Pendulum ◽  
Nonlinear Disturbance

A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. In order to eliminate the main drawback of the sliding mode control, “chattering” phenomenon, and for compensation of the model uncertainties and external disturbance, we designed a nonlinear disturbance observer of the mobile wheeled inverted pendulum system. Based on the nonlinear disturbance observer, a terminal sliding mode controller is also proposed. The stability of the closed-loop mobile wheeled inverted pendulum system is proved by Lyapunov theorem. Simulation results show that the terminal sliding mode controller with nonlinear disturbance observer can eliminate the “chattering” phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.

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