Abstract
This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to balance the system. The simulation and experimental results show that the TWIP system can be balanced but might experience velocity drifts because its balancing point is affected by model variations and disturbances. Therefore, we propose a multi-loop control layout consisting of a velocity loop and a position loop for the TWIP robot. The velocity loop can adjust the balancing point in real-time and regulate the forward velocity, while the position loop can achieve position tracking. For walking assistance, we design a decoupled control structure that transfers the linear and rotational motions of the robot to the commands of two parallel motors. We implement the designed controllers for simulation and experiments and show that the TWIP system employing the proposed decoupled multi-loop control can provide satisfactory responses when assisting with walking.
Highlights
Robot research has drawn much attention and resulted in many applications in industry [1] and services [2]
Biped robots and two-wheeled inverted pendulum (TWIP) robots are frequently used as homecare robots [3] because they can feature humanoid behaviors
This paper extends the one-dimensional control design of a TWIP robot in [4] to a two-dimensional motion control to assist user’s with walking, where the balance control and the steering control can be decoupled and independently designed
Summary
Robot research has drawn much attention and resulted in many applications in industry [1] and services [2]. Zhou et al [30] applied sliding mode control and an extended Kalman filter to enable a TWIP robot to track a reference position or velocity trajectory on uneven ground. The balancing point needs real-time adjustment to guarantee system stability This paper addresses this issue and proposes a multi-loop control architecture that consists of the balance, velocity, and position loops. The main contributions of this paper include: (1) developing a decoupled multi-loop control for a TWIP robot that can assist user walking; (2) presenting a multi-loop control layout that is composed of the balance, velocity, and position control loops; (3) proposing a decoupled control structure that can independently control the linear and rotational motions of the robot. Scuabrts.tiStuubtisntgituthtiensgysthteemsypsatreammeptaerrasmsheotewrsn sinhoTwabnlein1,Tthabelsey1st,etmhe tsryasntsefmertfruanncstfieornfufrnocmtiotnhefrmomottohrevmolotatogre vtooltthageeptiotcthhaenpgiltechofanthgelecoafrtthcaencabret dcaenscbriebdedeasscrfioblelodwass: follows: GSG=S
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