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
PublisherIEEE Computer Society
Pages1680-1685
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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