Stable traveling control considering slip of wheels in two-wheel mobile robot

Miki Nomura, Toshiyuki Murakami

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

Abstract

Recently, two-wheel mobile robot such as Segway is expected to be applied to a personal mobility. And it has the advantage of easy turning and stepping over and the disadvantage that many sensors are required for stabilization. In conventional researches, the stability and operability of the two-wheeled mobile robot were improved. These are established by assuming that 'the wheels do not slip'. However, a slip of the wheels cannot be ignored in actual driving, so that it is difficult to stably travel on a slippery road. In this paper, we consider the body-velocity by assuming 'the wheels slip in the modeling'. Sliding mode control system by using the body-velocity was proposed. Then, the acceleration observer is introduced to compensate the acceleration on body velocity. We consider both the body-velocity tracking and the pitch angle stabilization and achieve stable traveling control on slippery road. The validity of the proposed method is confirmed by simulation results and experimental results.

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages89-94
Number of pages6
ISBN (Electronic)9781728157542
DOIs
Publication statusPublished - 2020 Feb
Event21st IEEE International Conference on Industrial Technology, ICIT 2020 - Buenos Aires, Argentina
Duration: 2020 Feb 262020 Feb 28

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2020-February

Conference

Conference21st IEEE International Conference on Industrial Technology, ICIT 2020
CountryArgentina
CityBuenos Aires
Period20/2/2620/2/28

Keywords

  • Body-velocity tracking
  • Pitch angle stabilization
  • Sliding mode control
  • Two-wheel mobile robot

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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