Dynamic balance and motion control for wheeled inverted pendulum vehicle via hierarchical sliding mode approach

2014 ◽  
Vol 228 (6) ◽  
pp. 351-358 ◽  
Author(s):  
Ming Yue ◽  
Xing Wei
Keyword(s):  
Motion Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Dynamic Balance ◽  
Wheeled Inverted Pendulum ◽  
Hierarchical Sliding Mode

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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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