Real-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot
The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.
[1] Salerno, A and Angeles, J, "Nonlinear Conrollability of Quasiholonomic
Mobile Robot". Proc. IEEE ICRA, Taiwan, 2003.
[2] Grasser, F., D-Arrigo, A., Comlombi, S., and Rufer, A, "Joe: A mobile
inverted pendulum", IEEE Trans. Electronics, vol. 49, no 1, Feb 2002,
pp. 107-114.
[3] Salerno, A. and Angeles, J, "A new family of Two Wheeled Mobile
Robot: Modeling and Controllability". IEEE Transaction of Robotics,
Vol. 23. No. 1, Feb 2007, pp. 169-173.
[4] Koyanagi, E. , Lida, S. and Yuta, S. ,"A wheeled inverse pendulum type
self-contained mobile robot and its two-dimensional trajectory control",
Proceeding of ISMCR92, pp.891-898, 1992.
[5] Ha, Y.S. and Yuta, S, "Trajectory Tracking Control for Navigation of
the Inverse Pendulum Type Self-contained Mobile Robot". Robotic and
Autonomous System, 17, 1996 pp. 65-80.
[6] Kim, Y.H., Kim, S.H., and Kwak, Y.K, "Dynamic Analysis of a
Nonholonomic Two-wheeled Inverted Pendulum Robot", Proc. of the
Eighth Int. Symp. on Artificial Life and Robotics, Beppu, Oita, Japan,
24-26 January 2003, pp. 415-418.
[7] Pathak, Kaustubh. Franch, Jaume. Agrawal, Sunil K, "Velocity and
position control of a wheeled inverted pendulum by partial feedback
linearization" IEEE Transactions on Robotics, v 21, n 3, June, 2005, pp.
505-513.
[8] Tsuchiya, K., Urakubo, T. and Tsujita, K., "A motion control of a Two
wheeled mobile robot", IEEE International conference on system, man
and cybernetics, Tokyo Japan, 1999.
[9] Matsumoto, O., Kajita, S. and Tani, K., "Estimation and control of the
attitude of a dynamic mobile robot using internal sensors", Advance
Robotic, Vol. 7, no. 2, 1993, pp159-178.
[10] Matsumoto, O., Kajita, S. and Tani, K. "Attitude estimation of the
wheeled inverted pendulum using adaptive observer", 9th Academic
conference of the Robotics Society of Japan, Japan, 1991, pp 909-910.
[11] Shim, H. S., Kim, J. H. and Koh, K. "Variable Structure control of
nonholonomic wheeled mobile robot", IEEE International conference
on Robotics and automation, 1995, pp 1694-1699.
[12] Au, S. K. W., Xu, Y. and Yu, W. W. K. "Control of till up motion of a
single wheel robot via model based and human based controller",
Mechatronics vol 11, 2001, pp 451-473.
[13] Awtar, S. et al. "Inverted pendulum systems: rotary and arm driven- a
mechatronic system design case study", Mechatronics vol 12, 2002, pp
357-370.
[14] Deniskina, I. V., Levi, K. Y. S. and Gurfinkel, V. S. "Relative roles of
the ankle and hip muscles in human postural control in the frontal plane
surfing standing", Journal of Intelligent Robot System v 27, n 3, 2001,
pp 317-321.
[15] Googol Technology LTD, "All in one embedded motion controller
specification". [Online]. Available: http://www.googoltech.com
[16] "FAS-G Gyroscope Manual by Microstrian". (Online). Available:
http://www.microstrain.com/fas-g.asp
[17] Baloh, M. and Parent, M, "Modeling and Model Verification of an
intelligent self balancing two-wheeled vehicle for an autonomous urban
transportation system". Conf. Comp. Intelligence, Robotic and
Autonomous systems, Singapore, Dec, 15, 2003.
[18] Pathak, Kaustubh. Agrawal, Sunil K, "Band-limited trajectory planning
and tracking for certain dynamically stabilized mobile systems", Journal
of Dynamic Systems, Measurement and Control, Transactions of the
ASME, v 128, n 1, March, 2006, pp 104-111.
[19] Nawawi, S.W., Ahmad, M.N. and Osman, J.H.S., "Development of
Two-wheeled Inverted Pendulum Mobile Robot", SCOReD07, Malaysia,
Dec 2007, pp 153-158.
[20] Vaccaro, R. J. "Digital Control: A State-space Approach", McGraw-Hill
Inc., United State 1995.
[1] Salerno, A and Angeles, J, "Nonlinear Conrollability of Quasiholonomic
Mobile Robot". Proc. IEEE ICRA, Taiwan, 2003.
[2] Grasser, F., D-Arrigo, A., Comlombi, S., and Rufer, A, "Joe: A mobile
inverted pendulum", IEEE Trans. Electronics, vol. 49, no 1, Feb 2002,
pp. 107-114.
[3] Salerno, A. and Angeles, J, "A new family of Two Wheeled Mobile
Robot: Modeling and Controllability". IEEE Transaction of Robotics,
Vol. 23. No. 1, Feb 2007, pp. 169-173.
[4] Koyanagi, E. , Lida, S. and Yuta, S. ,"A wheeled inverse pendulum type
self-contained mobile robot and its two-dimensional trajectory control",
Proceeding of ISMCR92, pp.891-898, 1992.
[5] Ha, Y.S. and Yuta, S, "Trajectory Tracking Control for Navigation of
the Inverse Pendulum Type Self-contained Mobile Robot". Robotic and
Autonomous System, 17, 1996 pp. 65-80.
[6] Kim, Y.H., Kim, S.H., and Kwak, Y.K, "Dynamic Analysis of a
Nonholonomic Two-wheeled Inverted Pendulum Robot", Proc. of the
Eighth Int. Symp. on Artificial Life and Robotics, Beppu, Oita, Japan,
24-26 January 2003, pp. 415-418.
[7] Pathak, Kaustubh. Franch, Jaume. Agrawal, Sunil K, "Velocity and
position control of a wheeled inverted pendulum by partial feedback
linearization" IEEE Transactions on Robotics, v 21, n 3, June, 2005, pp.
505-513.
[8] Tsuchiya, K., Urakubo, T. and Tsujita, K., "A motion control of a Two
wheeled mobile robot", IEEE International conference on system, man
and cybernetics, Tokyo Japan, 1999.
[9] Matsumoto, O., Kajita, S. and Tani, K., "Estimation and control of the
attitude of a dynamic mobile robot using internal sensors", Advance
Robotic, Vol. 7, no. 2, 1993, pp159-178.
[10] Matsumoto, O., Kajita, S. and Tani, K. "Attitude estimation of the
wheeled inverted pendulum using adaptive observer", 9th Academic
conference of the Robotics Society of Japan, Japan, 1991, pp 909-910.
[11] Shim, H. S., Kim, J. H. and Koh, K. "Variable Structure control of
nonholonomic wheeled mobile robot", IEEE International conference
on Robotics and automation, 1995, pp 1694-1699.
[12] Au, S. K. W., Xu, Y. and Yu, W. W. K. "Control of till up motion of a
single wheel robot via model based and human based controller",
Mechatronics vol 11, 2001, pp 451-473.
[13] Awtar, S. et al. "Inverted pendulum systems: rotary and arm driven- a
mechatronic system design case study", Mechatronics vol 12, 2002, pp
357-370.
[14] Deniskina, I. V., Levi, K. Y. S. and Gurfinkel, V. S. "Relative roles of
the ankle and hip muscles in human postural control in the frontal plane
surfing standing", Journal of Intelligent Robot System v 27, n 3, 2001,
pp 317-321.
[15] Googol Technology LTD, "All in one embedded motion controller
specification". [Online]. Available: http://www.googoltech.com
[16] "FAS-G Gyroscope Manual by Microstrian". (Online). Available:
http://www.microstrain.com/fas-g.asp
[17] Baloh, M. and Parent, M, "Modeling and Model Verification of an
intelligent self balancing two-wheeled vehicle for an autonomous urban
transportation system". Conf. Comp. Intelligence, Robotic and
Autonomous systems, Singapore, Dec, 15, 2003.
[18] Pathak, Kaustubh. Agrawal, Sunil K, "Band-limited trajectory planning
and tracking for certain dynamically stabilized mobile systems", Journal
of Dynamic Systems, Measurement and Control, Transactions of the
ASME, v 128, n 1, March, 2006, pp 104-111.
[19] Nawawi, S.W., Ahmad, M.N. and Osman, J.H.S., "Development of
Two-wheeled Inverted Pendulum Mobile Robot", SCOReD07, Malaysia,
Dec 2007, pp 153-158.
[20] Vaccaro, R. J. "Digital Control: A State-space Approach", McGraw-Hill
Inc., United State 1995.
@article{"International Journal of Electrical, Electronic and Communication Sciences:53515", author = "S. W. Nawawi and M. N. Ahmad and J. H. S. Osman", title = "Real-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot", abstract = "The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.
", keywords = "Embedded System, Two-wheeled Inverted
Pendulum Mobile Robot.", volume = "2", number = "3", pages = "393-7", }
