Self-sustaining control of two-wheel mobile manipulator using sliding mode control

P. K.W. Abeygunawardhana, Michael Defoort, Toshiyuki Murakami

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

21 Citations (Scopus)

Abstract

Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand sliding mode control is a good candidate to address the nonlinear/under actuated system. This paper presents the control methods for balancing of two-wheel mobile manipulator. This paper proposes a novel second order sliding mode controller using twisting algorithm, disturbance observer and dynamics of double inverted pendulum. Dynamics of double inverted pendulum is used to design the control equation of sliding mode controller. Twisting algorithm is used to design the control input. Disturbance observer is compensated model uncertainties and external disturbances. Posture of two wheel mobile manipulator can successfully stabilized by this novel controller.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages792-797
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Keywords

  • Disturbance observer
  • Double inverted pendulum
  • Null space
  • Sliding mode control
  • Two-wheel mobile manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Abeygunawardhana, P. K. W., Defoort, M., & Murakami, T. (2010). Self-sustaining control of two-wheel mobile manipulator using sliding mode control. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 792-797). [5464027] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464027