Gain-scheduling control of a 6-DOF single-wheeled pendulum robot based on DIT parameterization

Author

Jin, HongZhe ; Zhao, Jie ; Fan, Jizhuang ; Lee, Jangmyung

Author_Institution

State Key Lab. of Robot. & Syst., Sci. Garden of HIT, Harbin, China

fYear

2011

fDate

9-13 May 2011

Firstpage

3511

Lastpage

3516

Abstract

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.

Keywords

control system synthesis; gain control; mobile robots; nonlinear control systems; pendulums; robot dynamics; scheduling; stability; wheels; DIT parameterization; SWPR maneuverability; control system modeling; dynamic interaction parameterization; gain-scheduling control; inertia pendulum; lateral dynamics; longitudinal dynamics; nonlinear dynamics; posture stabilization control design; robot body; rotational dynamics; single wheeled pendulum robot; steering; Control systems; Equations; IP networks; Mathematical model; Robots; Torque; Wheels; Gain scheduling; Model reduction; Parameterization; Posture stabilization; Single-wheeled pendulum robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980487

Filename

5980487