Velocity and orientation control of an anti-tilting mobile robot moving on an inclined plane

Author

Nasrallah, Danielle S. ; Angeles, Jorge ; Michalska, Hannah

fYear

2006

fDate

15-19 May 2006

Firstpage

3717

Lastpage

3723

Abstract

We introduce a novel control scheme for an anti-tilting mobile robot moving on an inclined plane. The robot pertains to the family of mobile wheeled pendulums. The challenge faced here consists in designing a controller for the robot orientation and its forward velocity, while, concurrently, stabilizing the unstable zero-dynamics, due to the undamped oscillation of the central body. An internal feedback control structure is proposed, composed of two imbricated loops, and based on an intrinsic dynamical property of the system, that would be referred to as the natural behavior of the system. Simulations of the controlled motion, using MATLAB/Simulink, are provided

Keywords

attitude control; control system synthesis; feedback; mobile robots; motion control; pendulums; position control; velocity control; zero assignment; anti-tilting mobile robot; feedback control; forward velocity control; mobile wheeled pendulums; motion control; orientation control; undamped oscillation; unstable zero-dynamics; Atomic measurements; Centralized control; Control systems; Mechanical engineering; Mobile robots; Motion control; Position control; Torque control; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642270

Filename

1642270