Trajectory planning-based control of underactuated wheeled inverted pendulum robots
Trajectory planning-based control of underactuated wheeled inverted pendulum robots
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DOI：
10.1007/s11432-018-9623-3
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发表时间：
2019-02
期刊：
影响因子：
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通讯作者：
Dingkun Liang;Ning Sun;Yiming Wu;Yongchun Fang
中科院分区：
文献类型：
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作者：
Dingkun Liang;Ning Sun;Yiming Wu;Yongchun Fang
Dear editor, In modern industries, underactuated mechanical systems play an important role in various fields [1–6]. The wheeled inverted pendulum robot (WIPR) is a special type of non-linear and underactuated systems with strong state coupling. Typically, such a robot comprises two actuated wheels and three to-be-controlled state variables, which are robot displacement, pendulum angle, and robot yaw angle. In the past decade, many control strategies have been developed for WIPRs to achieve various control objectives, such as trajectory and motion planning methods [1, 2, 7–9]. Yang et al.[1] proposed an optimized adaptive control strategy, which was based on the neuralnetwork method, to track the reference forward velocity trajectory asymptotically. Moreover, an integral sliding mode control approach has been designed to track the reference velocity trajectory presented to WIPRs on an inclined plane [8]. Additionally, together with an error-data-based trajectory generator, an indirect adaptive fuzzy controller was developed for the WIPR system [9].However, most existing studies have been conducted considering a WIPR on the horizontal plane, while few studies have considered a WIPR on an inclined plane. None of the studies in the literature pertain to improve the transportation efficiency by decreasing the traveling time of WIPRs. In addition, existing methods achieve their control objectives without constraining angles, accelerations, and jerks, which gives rise to safety con-
