Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty
Joint Authors
Tran, Khanh G.
Nguyen, Nam H.
Nguyen, Phuoc D.
Source
Journal of Control Science and Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-04
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance.
First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expansion for the nonlinear model of the TWIR at an equilibrium point, in which the nonlinear part of the Taylor series and the model uncertainty are combined with unknown input disturbance as compound input disturbance.
Then, the compound input disturbance is estimated by using the Newton method and reference model.
As the estimated compound disturbance is used to compensate for the compound disturbance, the equivalent linear system becomes closely definite without compound input disturbance.
Finally, two controllers are proposed using the equivalent linear system.
Stability analysis of the proposed control methods is also given.
To illustrate the proposed methods, some simulations for the TWIR are performed and compared with the existing methods.
The main contribution of this work includes the following: (i) simple controllers based on compound input disturbance observer for trajectory tracking and balancing of TWIRs with unknown input disturbance and model uncertainty are proposed; (ii) the stability of proposed closed-loop control systems is proved; (iii) our proposed methods are simulated and compared with the existing methods.
American Psychological Association (APA)
Tran, Khanh G.& Nguyen, Nam H.& Nguyen, Phuoc D.. 2020. Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty. Journal of Control Science and Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1182701
Modern Language Association (MLA)
Tran, Khanh G.…[et al.]. Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty. Journal of Control Science and Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1182701
American Medical Association (AMA)
Tran, Khanh G.& Nguyen, Nam H.& Nguyen, Phuoc D.. Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty. Journal of Control Science and Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1182701
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182701