Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique

Seok Kyoon Kim; Choon Ki Ahn; Ramesh K. Agarwal

doi:10.1109/TVT.2021.3116296

Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique

Seok Kyoon Kim, Choon Ki Ahn, Ramesh K. Agarwal

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

This article briefs on an advanced observer-based proportional-type control scheme that stabilizes the attitude and regulates the position of two-wheeled mobile balancing robots. The robot parameter and load uncertainties are under consideration. There are three main differences from previous results: (a) the development of coordinate transformation for securing the applicability of the proposed nonlinear controller design technique, (b) the pole-zero cancellation parameter-independent observers for estimating the wheel and yaw angular velocities, and (c) the guarantees of performance recovery and offset-free properties through the replacement of integrators via observer-based disturbance observers. The practical merits of the closed-loop analysis are confirmed by performing experiments with a LEGO Mindstorms EV3 operated by MATLAB/Simulink.

Original language	English
Pages (from-to)	11458-11468
Number of pages	11
Journal	IEEE Transactions on Vehicular Technology
Volume	70
Issue number	11
DOIs	https://doi.org/10.1109/TVT.2021.3116296
Publication status	Published - 2021 Nov 1

Keywords

Attitude-stabilizing control
Coordinate transformation
Observer
Two-wheeled balancing robot
Velocity regulation

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Electrical and Electronic Engineering
Applied Mathematics

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10.1109/TVT.2021.3116296

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title = "Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique",

abstract = "This article briefs on an advanced observer-based proportional-type control scheme that stabilizes the attitude and regulates the position of two-wheeled mobile balancing robots. The robot parameter and load uncertainties are under consideration. There are three main differences from previous results: (a) the development of coordinate transformation for securing the applicability of the proposed nonlinear controller design technique, (b) the pole-zero cancellation parameter-independent observers for estimating the wheel and yaw angular velocities, and (c) the guarantees of performance recovery and offset-free properties through the replacement of integrators via observer-based disturbance observers. The practical merits of the closed-loop analysis are confirmed by performing experiments with a LEGO Mindstorms EV3 operated by MATLAB/Simulink.",

keywords = "Attitude-stabilizing control, Coordinate transformation, Observer, Two-wheeled balancing robot, Velocity regulation",

author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki} and Agarwal, {Ramesh K.}",

note = "Funding Information: This work was supported in part by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2021R1C1C1004380, in part by Basic Science Research Program through the NRF funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2020R1A2C1005449. The review of this article was coordinated by Prof. Rui Ara{\'u}jo. Publisher Copyright: {\textcopyright} 2021 IEEE.",

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doi = "10.1109/TVT.2021.3116296",

language = "English",

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N1 - Funding Information: This work was supported in part by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2021R1C1C1004380, in part by Basic Science Research Program through the NRF funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2020R1A2C1005449. The review of this article was coordinated by Prof. Rui Araújo. Publisher Copyright: © 2021 IEEE.

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N2 - This article briefs on an advanced observer-based proportional-type control scheme that stabilizes the attitude and regulates the position of two-wheeled mobile balancing robots. The robot parameter and load uncertainties are under consideration. There are three main differences from previous results: (a) the development of coordinate transformation for securing the applicability of the proposed nonlinear controller design technique, (b) the pole-zero cancellation parameter-independent observers for estimating the wheel and yaw angular velocities, and (c) the guarantees of performance recovery and offset-free properties through the replacement of integrators via observer-based disturbance observers. The practical merits of the closed-loop analysis are confirmed by performing experiments with a LEGO Mindstorms EV3 operated by MATLAB/Simulink.

AB - This article briefs on an advanced observer-based proportional-type control scheme that stabilizes the attitude and regulates the position of two-wheeled mobile balancing robots. The robot parameter and load uncertainties are under consideration. There are three main differences from previous results: (a) the development of coordinate transformation for securing the applicability of the proposed nonlinear controller design technique, (b) the pole-zero cancellation parameter-independent observers for estimating the wheel and yaw angular velocities, and (c) the guarantees of performance recovery and offset-free properties through the replacement of integrators via observer-based disturbance observers. The practical merits of the closed-loop analysis are confirmed by performing experiments with a LEGO Mindstorms EV3 operated by MATLAB/Simulink.

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Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique

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