Modeling and Velocity Control for a Novel Narrow Vehicle Based on Mobile Wheeled Inverted Pendulum
Modeling and Velocity Control for a Novel Narrow Vehicle Based on Mobile Wheeled Inverted Pendulum
复制标题
基于移动轮式倒立摆的新型窄带车辆建模与速度控制
DOI：
10.1109/tcst.2012.2214439
复制
发表时间：
2013-09-01
影响因子：
4.8
通讯作者：
Matsuno, Takayuki
中科院分区：
文献类型：
--
作者：
Huang, Jian;Ding, Feng;Matsuno, Takayuki
在城市地区，污染和拥挤等交通问题变得越来越严重。解决这些问题的一个可能的办法是开发占用空间更小、排放量更低的窄型车辆。人们对欠驱动机械系统，即，移动的轮式倒立摆（MWIP）模型，在自主机器人和智能小车领域有着广泛的应用。本文研究了一种基于MWIP和可移动座椅的新型窄体车UW-Car。利用拉格朗日运动方程建立了欠驱动车辆系统在平地上行驶的动力学模型。基于动力学模型和终端滑模控制方法，设计了两个终端滑模控制器来控制UW-Car的速度和制动。第一个是用来控制前进速度到一个理想的值，同时保持身体直立和座位上的一些固定的位置。第二种是切换滑模控制器，由三个终端滑模控制器组成，根据最优制动方案快速制动系统。所有的控制算法都在Matlab仿真和UW-Car实验中进行了测试。仿真和实验结果验证了模型和控制器的有效性。
Traffic problems such as pollution and congestion are becoming more and more serious in urban areas. A potential solution to these problems is to develop narrow vehicles that occupy less space and have lower emissions. There has been increasing interest in underactuated mechanical systems, i.e., mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent narrow vehicles. A novel narrow vehicle based on an MWIP and a movable seat, called UW-Car, is investigated in this paper. The dynamic model of the underactuated vehicle system running on flat ground is derived by Lagrange's equation of motion. Based on the dynamic model and terminal sliding mode control method, two terminal sliding mode controllers are designed to control velocity and braking of the UW-Car. The first one is used to control the forward speed to a desired value while keeping the body upright and the seat on some fixed position. The second one is a switching sliding mode controller, composed of three terminal sliding mode controllers that quickly brakes the system according to an optimal braking scheme. All the control algorithms are tested in both Matlab simulation and a UW-Car experiment. The simulation and experimental results demonstrate the efficiency of the model and controllers.