Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control

This paper presents a new control methodology for a nonholonomic electric two-wheeled vehicle wherein the autonomous and man-machine cooperative controls are synthesized. In the proposed control scheme, the dasiaautonomous controlpsila and the dasiaman-machine cooperative controlpsila are designed by synthesizing time-state control and impedance control. The time-state controller tries to reduce the machine´s deviation from the guideline, the impedance controller, on the other hand, generates power to assist the operator´s maneuver. Furthermore, experimental results are shown to demonstrate the usefulness of the proposed strategy.