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.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Synthesized ADRC for One-Level Inverted Pendulum System through Combination of Separating and Assembling

2014 ◽  
Vol 490-491 ◽  
pp. 794-797
Author(s):  
Wen Ping Li ◽  
Li Qiang Wu
Keyword(s):  
Nonlinear System ◽  
Inverted Pendulum ◽  
Dynamical Decoupling ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Strong Robustness ◽  
Ideal Study ◽  
Simulation Results ◽  
The One ◽  
The Ideal

Inverted pendulum system is the ideal study object of nonlinear system. The ADRC has good estimate for disturbances, strong robustness and using static decoupling instead of dynamical decoupling. The one-level inverted pendulum system can be regarded as composing of the pendulum angel system and the cart position system. The former is faster and the later is slower. The synthesized ADRC for one-level inverted pendulum system is built through combination of separating and assembling to reduce difficulty in optimizing ADRC parameters of the inverted pendulum system. The synthesized controller is simulated by Matlab under different parameters of the inverted pendulum. Simulation results show that the pendulum angle and the cart position are well controlled.

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