Title :
Position and Orientation Control of a Mobile Wheeled Pendulum Moving on an Inclined Plane
Author :
Nasrallah, Danielle Sami ; Angeles, Jorge ; Michalska, Hannah
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que.
Abstract :
The subject of this paper is a specific class of wheeled mobile robots referred to as mobile wheeled pendulums (MWP). Robots pertaining to this class are composed of two wheels rotating about a central body. The main feature of the MWP pertains to the central body, which can rotate about the wheel axes. As such motion is undesirable, the problem of the stabilization of the central body in MWP is crucial. The novelty of the work presented here resides in the construction of a three-imbricated loop controller that delivers the full control strategy for the robot posture. Simulations on the performance of the controlled system are provided
Keywords :
attitude control; mobile robots; position control; stability; wheels; MWP stabilization; inclined plane; mobile wheeled pendulum; orientation control; position control; robot posture; three-imbricated loop controller; wheeled mobile robots; Centralized control; Control systems; Lighting control; Linear feedback control systems; Mobile computing; Mobile robots; Position control; Sliding mode control; Velocity control; Wheels;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252565
