Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method

Cihan Acar, Toshiyuki Murakami

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

17 Citations (Scopus)

Abstract

In this paper, control of an underactuated two-wheeled mobile manipulator using backstepping method is considered. Two-wheeled systems have many advantages compared to the statically stable systems. Mobile manipulators with two wheels have smaller footprints, which makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system because of a passive joint. Therefore, it is required to stabilize the passive joint and control the position of center of gravity of the manipulator. To realize this, nonlinear backstepping based control method with a virtual double inverted pendulum is proposed in this paper.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages1680-1685
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Backstepping
Manipulators
Pendulums
Wheels
Gravitation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Acar, C., & Murakami, T. (2008). Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 1680-1685). [4758206] https://doi.org/10.1109/IECON.2008.4758206

Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. / Acar, Cihan; Murakami, Toshiyuki.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 1680-1685 4758206.

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

Acar, C & Murakami, T 2008, Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758206, pp. 1680-1685, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758206
Acar C, Murakami T. Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 1680-1685. 4758206 https://doi.org/10.1109/IECON.2008.4758206
Acar, Cihan ; Murakami, Toshiyuki. / Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 1680-1685
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