Gain-scheduling control of a 6-DOF single-wheeled pendulum robot based on DIT parameterization
State Key Lab. of Robot. & Syst., Sci. Garden of HIT, Harbin, ChinaDOI: 10.1109/ICRA.2011.5980487 Conference: IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011
This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.
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ABSTRACT: This article presents a Mechatronics approach to make the complex dynamical system satisfy the specification as desired. The Mechatronics approach has several phases: analytical design, system integration, sensing & control, and evaluation. The Mechatronics approach means that cycles of design, implementation, sensing, and control are repeated until the system satisfies the goal through evaluation. A single-wheel robot system called GYROBO after a robot that uses gyroscopic effect is developed and controlled by the Mechatronics approach. The goal of GYROBO is to navigate its terrain while maintaining the stable balance. However, successful balancing and navigation of a single-wheel robot are quite difficult and challenging since one point contact may fall down in lateral direction with ease. To have a successful balancing performance, many problems have to be solved a priori before applying any advanced control algorithms. Among several phases of analytical design, integration, sensing & control, and evaluation, the most important phase is the analytical design. However, the analytical design cannot guarantee successful performances due to the complexity of the system. Practical Mechatronic approach is to repeat cycles of system integration, sensing & control, and evaluation. After several modifications of mechanical assembly and relocation of components inside the wheel housing, simple linear controllers enable GYROBO to perform successful balancing and navigation. GYROBO is able to follow the specified trajectory given by a remote operator. Experimental studies of control of balancing, driving forward and backward, turning, and climbing over an obstacle of GYROBO are conducted to demonstrate and evaluate its functionality and support the concept of the Mechatronics approach to control complex systems.
Conference Paper: Balancing control of a one-wheel transportation vehicle: Gyrocycle[Show abstract] [Hide abstract]
ABSTRACT: This paper presents the implementation and control of a one-wheel transportation vehicle called Gyrocycle. Gyrocycle is designed to be a future personal vehicle to carry a human operator that stands on and drive it. The vehicle uses the gyro effect induced by two flywheels to maintain balance itself. One of critical condition for the balancing stability is to control the tilt angle of the flywheels. However, the flywheels tend to lean against one direction. This leads to the instability of the system. To remedy this behavior, a PD control method with gain scheduling algorithm is used for controlling the balancing angle. Its balancing control performance is empirically confirmed.
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ABSTRACT: This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.
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