Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory

Yusheng Zhou (), Zaihua Wang () and Kwok-wai Chung ()
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Yusheng Zhou: Guizhou University
Zaihua Wang: Nanjing University of Aeronautics and Astronautics
Kwok-wai Chung: City University of Hong Kong

Journal of Optimization Theory and Applications, 2019, vol. 181, issue 2, No 14, 634-652

Abstract: Abstract This paper presents a control design method for implementing planar turning motion of a two-wheeled inverted pendulum with an input delay. The control task requires that the inverted pendulum is kept stabilized during the whole turning motion process along a pre-settled curve. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made and they are used to set up a dynamical trajectory tracking target. Then, by adjusting the parameters in the tracking target and the weights in the quadratic performance criterion, the optimal integral sliding mode controller based on a linear quadratic regulator is designed for keeping the vehicle body stabilized and tracking a circular path for the two-wheeled inverted pendulum. An illustrative example is given to demonstrate the validity of the theory with numerical simulation.

Keywords: Two-wheeled inverted pendulum; Input delay; Curvature tracking; Optimal control; Dynamical tracking target; 49N05; 49N35 (search for similar items in EconPapers)
Date: 2019
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Citations: View citations in EconPapers (1)

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DOI: 10.1007/s10957-019-01472-4

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