Optimal Braking Control for UW-Car Using Sliding Mode
There has been an increasing interest in a kind underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagranges motion equation. A sliding mode control (SMC) method proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed numerical simulation.
Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama
Department of Control Science & Engineering,Huazhong University of Science and Technology,Wuhan,Hube Intelligent Robotics Institute,Beijing Institute of Technology,Beijing 100081,P.R.China Department of Micro-Nano Systems Engineering,Nagoya University,Furo-cho,Chikusa-ku,Nagoya 464-8603,J
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
117-122
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）