Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory

Yusheng Zhou; Zaihua Wang; Kwok-wai Chung

doi:10.1007/s10957-019-01472-4

Author(s)

Yusheng Zhou
Zaihua Wang
Kwok-wai Chung

Related Research Unit(s)

Department of Mathematics

Detail(s)

Original language	English
Pages (from-to)	634-652
Journal / Publication	Journal of Optimization Theory and Applications
Volume	181
Issue number	2
Online published	28 Jan 2019
Publication status	Published - May 2019

Link(s)

DOI	DOI https://doi.org/10.1007/s10957-019-01472-4 Final Published version
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Attachment(s)	Documents 28088390.pdf Final Published version, 684 KB, PDF Publisher's Copyright Statement This full text is made available under CC-BY 4.0. https://creativecommons.org/licenses/by/4.0/
Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-85060990198&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(45d3b8cd-3ce7-4761-87a3-d73a80cbf4d4).html

Abstract

This paper presents a control design method for implementing planar turning motion of a two-wheeled inverted pendulum with an input delay. The control task requires that the inverted pendulum is kept stabilized during the whole turning motion process along a pre-settled curve. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made and they are used to set up a dynamical trajectory tracking target. Then, by adjusting the parameters in the tracking target and the weights in the quadratic performance criterion, the optimal integral sliding mode controller based on a linear quadratic regulator is designed for keeping the vehicle body stabilized and tracking a circular path for the two-wheeled inverted pendulum. An illustrative example is given to demonstrate the validity of the theory with numerical simulation.