Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform

被引：101

作者：

Kim, Sangtae ^{[1
]}

Kwon, SangJoo ^{[1
]}

机构：

[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, Goyang 412791, South Korea

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2017年 / 22卷 / 06期

基金：

新加坡国家研究基金会;

关键词：

Personal mobility; self-balancing robot; statedependent Riccati equation (SDRE) nonlinear control; two-wheeled inverted pendulum (TWIP); DEPENDENT RICCATI EQUATION; IMPLEMENTATION; ROBOT;

D O I：

10.1109/TMECH.2017.2767085

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In terms of the state-dependent Riccati equation (SDRE) control framework, a nonlinear motion control is investigated for the two-wheeled inverted pendulum (TWIP) mobile robot platform. As a critical design issue, the state dependent coefficient matrix is established based on the sound understanding of dynamic characteristics of the TWIP robot. The developed SDRE control solution has the merit of robust posture stabilization when the inverted pendulum robot experiences strong nonlinear behaviors due to abrupt external disturbances.

引用

页码：2803 / 2808

页数：6

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