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

Miki Nomura, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ89-94
ページ数6
ISBN(電子版)9781728157542
DOI
出版ステータスPublished - 2020 2
イベント21st IEEE International Conference on Industrial Technology, ICIT 2020 - Buenos Aires, Argentina
継続期間: 2020 2 262020 2 28

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2020-February

Conference

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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