Kwok-wai Chung, Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory
Yusheng Zhou, Zaihua Wang, Kwok-wai Chung
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.
原文链接: https://link.springer.com/article/10.1007/s10957-019-01472-4
