Tracking Control of A Balancing Robot – A Model-Based Approach
This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller...
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2014-08-01
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| Series: | Archive of Mechanical Engineering |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/meceng.2014.61.issue-2/meceng-2014-0019/meceng-2014-0019.xml?format=INT |
| _version_ | 1811258594288467968 |
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| author | Zaiczek Tobias Franke Matthias |
| author_facet | Zaiczek Tobias Franke Matthias |
| author_sort | Zaiczek Tobias |
| collection | DOAJ |
| description | This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results. |
| first_indexed | 2024-04-12T18:16:48Z |
| format | Article |
| id | doaj.art-5c106eb2bdae4f4db3372fbe7f308fee |
| institution | Directory Open Access Journal |
| issn | 2300-1895 |
| language | English |
| last_indexed | 2024-04-12T18:16:48Z |
| publishDate | 2014-08-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Archive of Mechanical Engineering |
| spelling | doaj.art-5c106eb2bdae4f4db3372fbe7f308fee2022-12-22T03:21:35ZengPolish Academy of SciencesArchive of Mechanical Engineering2300-18952014-08-0161233134610.2478/meceng-2014-0019meceng-2014-0019Tracking Control of A Balancing Robot – A Model-Based ApproachZaiczek Tobias0Franke Matthias1Fraunhofer-Institute Integrated Circuits, Design Automation Division, Zeunerstraβe 38, 01069 Dresden, GermanyFraunhofer-Institute Integrated Circuits, Design Automation Division, Zeunerstraβe 38, 01069 Dresden, GermanyThis paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.http://www.degruyter.com/view/j/meceng.2014.61.issue-2/meceng-2014-0019/meceng-2014-0019.xml?format=INTsingle-axle mobile robotnonholonomic constraintsHamel's equationcascade control structureinput-output linearizationtracking controlnonlinear control |
| spellingShingle | Zaiczek Tobias Franke Matthias Tracking Control of A Balancing Robot – A Model-Based Approach Archive of Mechanical Engineering single-axle mobile robot nonholonomic constraints Hamel's equation cascade control structure input-output linearization tracking control nonlinear control |
| title | Tracking Control of A Balancing Robot – A Model-Based Approach |
| title_full | Tracking Control of A Balancing Robot – A Model-Based Approach |
| title_fullStr | Tracking Control of A Balancing Robot – A Model-Based Approach |
| title_full_unstemmed | Tracking Control of A Balancing Robot – A Model-Based Approach |
| title_short | Tracking Control of A Balancing Robot – A Model-Based Approach |
| title_sort | tracking control of a balancing robot a model based approach |
| topic | single-axle mobile robot nonholonomic constraints Hamel's equation cascade control structure input-output linearization tracking control nonlinear control |
| url | http://www.degruyter.com/view/j/meceng.2014.61.issue-2/meceng-2014-0019/meceng-2014-0019.xml?format=INT |
| work_keys_str_mv | AT zaiczektobias trackingcontrolofabalancingrobotamodelbasedapproach AT frankematthias trackingcontrolofabalancingrobotamodelbasedapproach |