Abstract
The current paper investigates a sliding mode controller for stabilizing a two-wheel inverted pendulum (TWIP) robot. It is well-known that the controller in the mobile robot plays a critical role in self-balancing and stabilizing. The TWIP robot has two DC gear motors with a high-resolution encoder and zero backlash, but with friction. It is a highly nonlinear and unstable system, which poses challenges for controller design. In this study, a mathematical dynamic model is built using Lagrangian function method. And a sliding mode controller (SMC) is proposed for auto-balancing and yaw rotation. A gyro and an accelerometer are adopted to measure the pitch angle and pitch rate. The effect on the sensors installation location was analyzed and compensated, and the precision of the pose estimation is improved accordingly. A comparison of the proposed SMC controller with proportional-integral-derivative (PID) controller and state feedback controller (SFC) with linear quadratic regulation (LQR) has been conducted. The experimental test results demonstrate the SMC controller outperforms PID controller, SFC and SMC controller in Zhang and Li (Proceedings of 35th Chinese control conference (CCC). IEEE) [14] in terms of transient performance and disturbance rejection ability.
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S. Arani, M., Ebrahimi Orimi, H., Xie, WF., Hong, H. (2019). Sliding Mode Control Design of a Two-Wheel Inverted Pendulum Robot: Simulation, Design and Experiments. In: Janabi-Sharifi, F., Melek, W. (eds) Advances in Motion Sensing and Control for Robotic Applications. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-17369-2_7
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DOI: https://doi.org/10.1007/978-3-030-17369-2_7
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