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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bingtuan Gao Xiaohua Zhang Wenhao Yao Yuanbo Guo Yuqing Bao Jiehua Xie |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Electrical Engineering, Harbin Institute of Technology, China (Xiaohua Zhang; Wenhao Yao; Yuanbo Guo) || School of Electrical Engineering, Southeast University, Nanjing, China (Bingtuan Gao; Yuqing Bao; Jiehua Xie) |
| Abstract | This paper presents the dynamics and motion control of a two-wheeled mobile robot (2WMR). The 2WMR is driven by two independent wheel motors, upon which an intermediate body (IB) is mounted. Based on Lagrange Equations, the mathematical model of the 2WMR is derived. The 2WMR having two actuated configuration variables (left wheel angle and right wheel angle) and one unactuated configuration variable (tilt angle of the IB) is a typical underactuated system. And it is inherently unstable and all the configuration variables have to been controlled through the actions of the wheel motors. Based on linearized model of the deduced dynamics, a double-loop proportional-derivative (PD) control strategy is designed to balancing control of the IB and follow the desired wheel speed motion. Moreover, a more robust double-loop fuzzy control scheme is proposed according to the parameters uncertainty of the 2WMR. The universe values of the fuzzy controller are selected based on the simulation of the double-loop PD controller. Simulation and experimental results are presented to demonstrate the feasibility and effectiveness of the proposed motion control design for the 2WMR. |
| Starting Page | 179 |
| Ending Page | 184 |
| File Size | 353930 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467314206 |
| e-ISBN | 9781467314213 |
| DOI | 10.1109/CYBER.2012.6392550 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-05-27 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Control design Wheels Mobile robots Mathematical model PD control Kinetic energy |
| Content Type | Text |
| Resource Type | Article |
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