A comparison study of velocity and torque based control of two-wheel mobile robot for human operation

Sho Amagai, Miyuki Kamatani, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller, that is, velocity-based controller and torque-based controller are developed. Velocity-based controller is designed based on sliding mode control, which considers pitch angle stability and velocity tracking simultaneously. Torque-based controller is realized by introducing virtual pitch angle disturbance to generate the wheel torque. These two methods are compared via simulation, and results show that the velocity-based controller reduces tracking error against the pitch angle disturbance, whereas the torque-based controller has fast response.

Original languageEnglish
Title of host publication2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
Volume2017-December
ISBN (Electronic)9781509065462
DOIs
Publication statusPublished - 2017 Dec 14
Event24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
Duration: 2017 Nov 212017 Nov 23

Other

Other24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
CountryNew Zealand
CityAuckland
Period17/11/2117/11/23

Keywords

  • human operation
  • joystick
  • torque-based control
  • two-wheel mobile robot
  • velocity-based control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Optimization

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