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Transportation control of cooperative double-wheel inverted pendulum robots adopting Udwadia-control approach

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Abstract

The design and control for cooperative inverted pendulum robots are addressed in this paper. A transportation system consisting of two double-wheel inverted pendulum robots is designed for carrying baggage along a predefined trajectory, the problem lies on the control for transportation. Firstly, two robots are connected with carrier through chute structure, the junction realizes real-time stable for both inverted pendulums. Secondly, whole transportation system is regarded as a constrained multi-body system considering trajectory and is divided into three subsystem: (a) guider robot subsystem; (b) baggage and carrier subsystem; (c) follower robot subsystem, then a simple four-step procedure adopting hierarchical dynamic modeling method is applied to model the dynamic of whole system. Explicit control torques for transportation are elicited through Udwadia-control approach. Simulation is executed last to demonstrate the advantage and simplicity of proposed method.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, Anhui, People’s Republic of China

    Chunsheng He, Kang Huang, Xiaolong Chen, Yiran Zhang & Han Zhao

Authors
  1. Chunsheng He
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  2. Kang Huang
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  3. Xiaolong Chen
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  4. Yiran Zhang
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  5. Han Zhao
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Correspondence to Chunsheng He.

Additional information

The research is founded by Key Science and Technology Program of Anhui Province (CN), Program Number is 1064a0902181.

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He, C., Huang, K., Chen, X. et al. Transportation control of cooperative double-wheel inverted pendulum robots adopting Udwadia-control approach. Nonlinear Dyn 91, 2789–2802 (2018). https://doi.org/10.1007/s11071-018-4046-z

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