TY - GEN
T1 - Stable traveling control considering slip of wheels in two-wheel mobile robot
AU - Nomura, Miki
AU - Murakami, Toshiyuki
PY - 2020/2
Y1 - 2020/2
N2 - Recently, two-wheel mobile robot such as Segway is expected to be applied to a personal mobility. And it has the advantage of easy turning and stepping over and the disadvantage that many sensors are required for stabilization. In conventional researches, the stability and operability of the two-wheeled mobile robot were improved. These are established by assuming that 'the wheels do not slip'. However, a slip of the wheels cannot be ignored in actual driving, so that it is difficult to stably travel on a slippery road. In this paper, we consider the body-velocity by assuming 'the wheels slip in the modeling'. Sliding mode control system by using the body-velocity was proposed. Then, the acceleration observer is introduced to compensate the acceleration on body velocity. We consider both the body-velocity tracking and the pitch angle stabilization and achieve stable traveling control on slippery road. The validity of the proposed method is confirmed by simulation results and experimental results.
AB - Recently, two-wheel mobile robot such as Segway is expected to be applied to a personal mobility. And it has the advantage of easy turning and stepping over and the disadvantage that many sensors are required for stabilization. In conventional researches, the stability and operability of the two-wheeled mobile robot were improved. These are established by assuming that 'the wheels do not slip'. However, a slip of the wheels cannot be ignored in actual driving, so that it is difficult to stably travel on a slippery road. In this paper, we consider the body-velocity by assuming 'the wheels slip in the modeling'. Sliding mode control system by using the body-velocity was proposed. Then, the acceleration observer is introduced to compensate the acceleration on body velocity. We consider both the body-velocity tracking and the pitch angle stabilization and achieve stable traveling control on slippery road. The validity of the proposed method is confirmed by simulation results and experimental results.
KW - Body-velocity tracking
KW - Pitch angle stabilization
KW - Sliding mode control
KW - Two-wheel mobile robot
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U2 - 10.1109/ICIT45562.2020.9067225
DO - 10.1109/ICIT45562.2020.9067225
M3 - Conference contribution
AN - SCOPUS:85084155391
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 89
EP - 94
BT - Proceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Industrial Technology, ICIT 2020
Y2 - 26 February 2020 through 28 February 2020
ER -