Title :
Dynamic modelling of a new configuration of two wheeled robotic machine on an inclined surface
Author :
Agouri, S. ; Tokhi, O. ; Almeshal, A. ; Sayidmarie, O. ; Goher, K.
Author_Institution :
Dept. of Autom. Control & Syst. Eng., Univ. of Sheffield, Sheffield, UK
Abstract :
This paper focuses on a novel type of two wheeled robotic system. The system poses a challenging control problem in terms of combining upright balance, stability and maneuverability. The system is designed with the ability to move on irregular terrains such as frictional and inclined surfaces. The work investigates the dynamic modeling and control of the two-wheeled robotic machine moving on an inclined surface. This paper presents the dynamic modeling of the proposed system using the Lagrange approach. The model is built in Matlab Simulink environment and its controllability tested with a Proportional-integral-derivative (PID) control mechanism.
Keywords :
controllability; friction; mobile robots; motion control; robot dynamics; stability; terrain mapping; three-term control; Lagrange approach; Matlab Simulink environment; PID control; controllability; dynamic modelling; frictional surface; inclined surface; irregular terrain; maneuverability; proportional-integral-derivative control; stability; two wheeled robotic machine; two wheeled robotic system; upright balance; Dynamics; Mathematical model; Mobile robots; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347899