1P1-G19 Development of an Two-Wheeled Inverted Pendulum Type Mobile Robot for Educational Purposes : Hardware Design and Control Implementation of the Waseda Wheeled Vehicle No.2 Refined

2010 ◽  
Vol 2010 (0) ◽  
pp. _1P1-G19_1-_1P1-G19_4
Author(s):  
Przemyslaw KRYCZKA ◽  
Ryu NAKADATE ◽  
Jorge SOLIS ◽  
Atsuo TAKANISHI
Keyword(s):  
Mobile Robot ◽  
Inverted Pendulum ◽  
Hardware Design ◽  
Wheeled Inverted Pendulum ◽  
Wheeled Vehicle ◽  
And Control ◽  
Control Implementation

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING

2009 ◽  
Vol 06 (03) ◽  
pp. 181-191
Author(s):  
LEONIMER FLAVIO DE MELO ◽  
JOSE FERNANDO MANGILI
Keyword(s):  
Rapid Prototyping ◽  
Mobile Robot ◽  
Embedded System ◽  
Mobile Robots ◽  
Mobile Robot Navigation ◽  
Robotic Control ◽  
Dynamic Simulator ◽  
The Embedded System ◽  
And Control ◽  
Control Implementation

This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.

scholarly journals Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

2019 ◽  
Vol 8 (3) ◽  
pp. 808-817
Author(s):  
Mustapha Muhammad ◽  
Amir A. Bature ◽  
Umar Zangina ◽  
Salinda Buyamin ◽  
Anita Ahmad ◽  
...  
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Fuzzy Model ◽  
Control Law ◽  
Velocity Control ◽  
Wheeled Inverted Pendulum ◽  
Fuzzy Lyapunov Function ◽  
Tracking Controller ◽  
Velocity Tracking

This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.

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