B-2WMR System Model and Underactuated Property Analysis

Author

Ruan, Xiaogang ; Chen, Jing

Author_Institution

Beijing Univ. of Technol., Beijing

fYear

2007

fDate

18-21 Aug. 2007

Firstpage

580

Lastpage

585

Abstract

Balancing two-wheeled mobile robot is a kind of natural unstable underactuated system with high-rank unstable multi-variable strongly coupling complicated dynamic nonlinear property. We applied Euler-Lagrange method for establishing the MIMO nonlinear dynamic model based on the balancing two- wheeled mobile robot system, and employed this model to analyse the robot´s pose and states control. The direction of control method based on the underactuated system was discussed. We simulated the system model in the MatLab environment, and got the in-out responses. Thus, we provide a certain experimental platform for the design of the balancing controller.

Keywords

MIMO systems; control system synthesis; matrix algebra; mobile robots; nonlinear control systems; nonlinear dynamical systems; B-2WMR system model; Euler-Lagrange method; MIMO nonlinear dynamic model; balancing controller design; balancing two-wheeled mobile robot system; control method; transition matrix; underactuated property analysis; unstable underactuated system; Control engineering; Control systems; Information analysis; Mathematical model; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Vehicle dynamics; Balancing Control; Balancing Two-Wheeled Mobile Robot (B-2WMR); Dynamic Model; Euler-Lagrange Equation; Underactuated System;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2007 IEEE International Conference on

Conference_Location

Jinan

Print_ISBN

978-1-4244-1531-1

Type

conf

DOI

10.1109/ICAL.2007.4338631

Filename

4338631