Название: Robust and Intelligent Control of a Typical Underactuated Robot: Mobile Wheeled Inverted Pendulum
Автор: Jian Huang, Mengshi Zhang, Toshio Fukuda
Издательство: Springer
Год: 2023
Страниц: 123
Язык: английский
Формат: pdf (true), epub
Размер: 29.3 MB
The mobile wheeled inverted pendulum (MWIP) is a typical underactuated robotic system, which is widely used in modern urban transportation vehicles aiming at solving the last mile problem. 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. Finally, the future development of underactuated robot has been prospected.