A robust control of two-wheeled mobile manipulator with underactuated joint by nonlinear backstepping method

Cihan Acar, Toshiyuki Murakami

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In this paper, a robust control of two-wheeled mobile manipulator with underactuated joint is considered. Twowheeled mobile manipulators are dynamically balanced two-wheeled driven systems that do not have any caster or extra wheels to stabilize their body. Two-wheeled mobile manipulators mainly have an important feature that makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system due to its two-wheeled structure. Therefore, it is required to stabilize the underactuated passive body and, at the same time, control the position of the center of gravity (CoG) of the manipulator in this system. To realize this, nonlinear backstepping based control method with virtual double inverted pendulum model is proposed in this paper. Backstepping is used with sliding mode to increase the robustness of the system against modeling errors and other perturbations. Then robust acceleration control is also achieved by utilizing disturbance observer. Performance of the proposed method is evaluated by several experiments.

Original languageEnglish
Pages (from-to)742-751+5
Journalieej transactions on industry applications
Volume130
Issue number6
DOIs
Publication statusPublished - 2010 Jul 15

Keywords

  • Backstepping
  • Disturbance observer
  • Double inverted pendulum
  • Sliding mode
  • Two-wheeled mobile manipulator

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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