Block Backstepping Control Design of Two-Wheeled Inverted Pendulum Via Zero Dynamic Analysis

2021 ◽  
Author(s):  
Amjad Jaleel Humaidi ◽  
Mustafa Riyadh Hameed ◽  
Ahmed R. Ajel ◽  
Akram Hashim Hameed ◽  
Arif A. Al-Qassar ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Inverted Pendulum ◽  
Control Design ◽  
Backstepping Control ◽  
Zero Dynamic ◽  
Wheeled Inverted Pendulum

Intelligent backstepping control for wheeled inverted pendulum

2011 ◽  
Vol 38 (4) ◽  
pp. 3364-3371 ◽  
Author(s):  
Chih-Hui Chiu ◽  
Ya-Fu Peng ◽  
You-Wei Lin
Keyword(s):  
Inverted Pendulum ◽  
Backstepping Control ◽  
Wheeled Inverted Pendulum

scholarly journals Energy-Based Limit Cycle Compensation for Dynamically Balancing Wheeled Inverted Pendulum Machines

2013 ◽  
Author(s):  
Hari Vasudevan ◽  
Aaron M. Dollar ◽  
John B. Morrell
Keyword(s):  
Limit Cycle ◽  
Limit Cycles ◽  
Inverted Pendulum ◽  
Control Design ◽  
Rolling Friction ◽  
Drive Train ◽  
Wheeled Inverted Pendulum ◽  
Energy Behavior ◽  
Mechanical Reconfiguration ◽  
Second Period

In this paper we present an energy-based algorithm to minimize limit cycles in dynamically balancing wheeled inverted pendulum (IP) machines. Because the algorithm is not based on the numerical value of parameters, performance is robust and accounts for mechanical reconfiguration and wear. The effects of phenomena such as drive-train friction, rolling friction, backlash and sensor bandwidth are well known, causing either limit cycles or instabilities in IP balancing machines and yet compensation or control design to mitigate these effects are not well known. The effects of these non-linearities can be observed in the energy behavior of IP balancing machines, hence, as a broader goal we seek to establish an energy-based framework for the investigation of non-linearities in this class of machines. We successfully demonstrate the effectiveness of our algorithm on a two-wheeled IP balancing machine, “Charlie”, developed in our laboratory. As an example we show a reduction in the amplitude of limit cycles by 95.9% in wheel angle and 89.8% in pitch over a 10 second period.

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