Motion control of a two-wheeled inverted pendulum with uncertain rolling resistance and angle constraint based on slow-fast dynamics

2021 ◽  
Author(s):  
Song Liang ◽  
Zaihua Wang ◽  
Gabor Stepan
Keyword(s):  
Motion Control ◽  
Inverted Pendulum ◽  
Rolling Resistance ◽  
Wheeled Inverted Pendulum

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.

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