A comparison study of velocity and torque based control of two-wheel mobile robot for human operation

Sho Amagai, Miyuki Kamatani, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller, that is, velocity-based controller and torque-based controller are developed. Velocity-based controller is designed based on sliding mode control, which considers pitch angle stability and velocity tracking simultaneously. Torque-based controller is realized by introducing virtual pitch angle disturbance to generate the wheel torque. These two methods are compared via simulation, and results show that the velocity-based controller reduces tracking error against the pitch angle disturbance, whereas the torque-based controller has fast response.

本文言語English
ホスト出版物のタイトル2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-6
ページ数6
ISBN(電子版)9781509065462
DOI
出版ステータスPublished - 2017 12月 14
イベント24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
継続期間: 2017 11月 212017 11月 23

出版物シリーズ

名前2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
2017-December

Other

Other24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
国/地域New Zealand
CityAuckland
Period17/11/2117/11/23

ASJC Scopus subject areas

  • 機械工学
  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御と最適化

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