This book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP’s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected.This book is intended for researchers and engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.
Author(s): Jian Huang, Mengshi Zhang, Toshio Fukuda
Series: Research on Intelligent Manufacturing
Publisher: Springer
Year: 2023
Language: English
Pages: 122
City: Singapore
Preface
Contents
Symbols
1 Introduction
1.1 An Overview of MWIP Robots
1.2 Control Methods of the MWIP System
1.3 Outline of Book
References
2 Modeling of Mobile Wheeled Inverted Pendulums
2.1 Introduction
2.2 Two-Dimensional Dynamic Model
2.3 Three-Dimensional Dynamic Model
2.4 Dynamic Model with Uncertainties
2.5 Physical Design of the MWIP Robot
2.5.1 Sensing System of the MWIP
2.5.2 Servo Motor Control System of the MWIP
2.6 Conclusion
3 Disturbance Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
3.1 Introduction
3.2 First-Order Disturbance Observer
3.3 Second-Order Disturbance Observer
3.4 High-Order Disturbance Observer
3.5 High-Order Disturbance Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
3.6 Simulation Studies
3.6.1 Disturbance Observers
3.6.2 High-Order Disturbance Observer-Based Sliding Mode Control
3.7 Conclusion
References
4 Sliding Mode Variable Structure-Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums
4.1 Introduction
4.2 Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems
4.3 Terminal Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
4.3.1 TSMC Controller Design
4.3.2 Analysis of Velocity Convergence
4.4 Simulation Studies
4.4.1 Adaptive Super-Twisting Control
4.4.2 Terminal Sliding Mode Control
4.5 Conclusion
References
5 Interval Type-2 Fuzzy Logic Control of Mobile Wheeled Inverted Pendulums
5.1 Introduction
5.2 Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum
5.3 IT2 FLSs for Controlling the Balance, Position, and Direction of the MWIP
5.3.1 Balance Control
5.3.2 Position and Direction Control
5.4 Simulation Studies
5.5 Discussions
5.5.1 Robustness of the IT2 FLS
5.5.2 Stability of the IT2 FLS
5.6 Conclusion
References
6 Experiments of Controlling Real Mobile Wheeled Inverted Pendulums
6.1 Experimental Setup
6.2 Experimental Results
6.2.1 Experimental Results of High-Order Disturbance Observer-Based Sliding Mode Control
6.2.2 Experimental Results of Adaptive Super-Twisting Control
6.2.3 Experimental Results of Interval Type-2 Fuzzy Logic Control
6.3 Conclusion
7 Conclusion
