Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation
Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/11/339 |
| _version_ | 1797466204958359552 |
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| author | Yongkuk Kim SangJoo Kwon |
| author_facet | Yongkuk Kim SangJoo Kwon |
| author_sort | Yongkuk Kim |
| collection | DOAJ |
| description | Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. In this paper, we suggest a disturbance compensation method that is compatible with unmanned TWIP systems in terms of the nonlinear-model-based disturbance observer, where the underactuated dynamic model is transformed to a fully actuated form by regarding the gravitational moment of the inverted pendulum as a supplementary pseudo-actuator to counteract the pitch-directional disturbances. Consequently, it enables us to intuitively determine the disturbance compensation input of the two wheels and the pitch reference input accommodating to uncertain terrains in real time. Through simulation and experimental results, the effectiveness of the proposed method is validated. |
| first_indexed | 2024-03-09T18:32:31Z |
| format | Article |
| id | doaj.art-b31a0205a1ff4909b21f54fcf554c6ef |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T18:32:31Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-b31a0205a1ff4909b21f54fcf554c6ef2023-11-24T07:24:12ZengMDPI AGActuators2076-08252022-11-01111133910.3390/act11110339Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance CompensationYongkuk Kim0SangJoo Kwon1School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang 10540, Republic of KoreaSchool of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang 10540, Republic of KoreaTwo-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. In this paper, we suggest a disturbance compensation method that is compatible with unmanned TWIP systems in terms of the nonlinear-model-based disturbance observer, where the underactuated dynamic model is transformed to a fully actuated form by regarding the gravitational moment of the inverted pendulum as a supplementary pseudo-actuator to counteract the pitch-directional disturbances. Consequently, it enables us to intuitively determine the disturbance compensation input of the two wheels and the pitch reference input accommodating to uncertain terrains in real time. Through simulation and experimental results, the effectiveness of the proposed method is validated.https://www.mdpi.com/2076-0825/11/11/339two-wheeled inverted pendulumunderactuated systemdisturbance rejection controlnonlinear disturbance observer (NDOB) |
| spellingShingle | Yongkuk Kim SangJoo Kwon Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation Actuators two-wheeled inverted pendulum underactuated system disturbance rejection control nonlinear disturbance observer (NDOB) |
| title | Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation |
| title_full | Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation |
| title_fullStr | Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation |
| title_full_unstemmed | Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation |
| title_short | Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation |
| title_sort | robust stabilization of underactuated two wheeled balancing vehicles on uncertain terrains with nonlinear model based disturbance compensation |
| topic | two-wheeled inverted pendulum underactuated system disturbance rejection control nonlinear disturbance observer (NDOB) |
| url | https://www.mdpi.com/2076-0825/11/11/339 |
| work_keys_str_mv | AT yongkukkim robuststabilizationofunderactuatedtwowheeledbalancingvehiclesonuncertainterrainswithnonlinearmodelbaseddisturbancecompensation AT sangjookwon robuststabilizationofunderactuatedtwowheeledbalancingvehiclesonuncertainterrainswithnonlinearmodelbaseddisturbancecompensation |