Abstract
ABSTRACTSegway is a self-balancing motorized two-wheeled vehicle which is able to carry the human body. In the presented paper, a problem of nonholonomic constrained mechanical systems is treated. New methods in nonholonomic mechanics are applied to a problem of a two-wheeled self-balancing robots motion ‘SEGWAY’. This method of the geometrical theory of general nonholonomic constrained systems on fibred manifolds and their jet prolongations, based on so-called Chetaev-type constraint forces, was proposed and developed in the last decade by Krupková and others. The equations of motion of a two-wheeled self-balancing robot are highly nonlinear and rolling without slipping condition can only be expressed by nonholonomic constraint equations. In this paper, the geometrical theory is applied to the above mentioned mechanical problem using the above mentioned Krupková approach. Additionally, the results of numerical solutions of constrained equations of motion derived within the theory are in good agreement with results of (1) [Maddahi, A., Shamekhi, A. H., & Ghaffari, A. (2015). A Lyapunov controller for self-balancing two-wheeled vehicles. Robotica, 33(1), 225–239]. using Lyapunov's feedback control design technique. The existence, continuity, and uniqueness of the solution for the proposed control system are proved utilizing the Filippov's solution (2). And with fuzzy controller proposed by [Qian, Q., Wu, J., & Wang, Z. (2017). A novel configuration of two-wheeled self-balancing robot/Nova konfiguracija samobalansirajuceg robota na dva kotaca (Original scientific paper/Izvorni znastveni clanak). Tehnicki Vjesnik-Technical Gazette, 24(2), 459–465].
Highlights
In recent years, two-wheeled self-balancing vehicle is widely used for its advantages such as energy saving, environmental protection, simple structure, flexible operation, and so on (Liu, Huang, Wang, Zhang, & Li, 2016)
New methods in nonholonomic mechanics are applied to a problem of a two-wheeled self-balancing robots motion ‘SEGWAY’
The organization of this paper is as follows: In Section II, we introduce the geometrical theory of nonholonomic mechanical systems
Summary
Two-wheeled self-balancing vehicle is widely used for its advantages such as energy saving, environmental protection, simple structure, flexible operation, and so on (Liu, Huang, Wang, Zhang, & Li, 2016). Almeshal, Goher, and Tokhi (2013) employed Lagrangian approach for dynamical modelling of two-wheeled robots and added more degrees of freedom in comparison with the works done by the former researchers. On the dynamical modelling of the regular twowheeled self-balancing robot, Grasser et al (2002) derived a dynamic model of the system using Newtonian approach and linearized the equations around an operating point to design a controller. SYSTEMS SCIENCE & CONTROL ENGINEERING: AN OPEN ACCESS JOURNAL exposed mechanical problem for the first time, using the above mentioned Krupková approach for a practical mechanical system and find their solution in some particular cases, any simplification are not used This is made, where the sets of equations of motion i.e. reduced, are derived.
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