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Control for transformation of a four wheeled to two wheeled mobile robot

Publication Type : Journal Article

Publisher : Materials Today: Proceedings .

Source : Materials Today: Proceedings , Volume 5, Issue 1, p.1425-1431 (2018)

Url : https://www.sciencedirect.com/science/article/pii/S2214785317324975

Keywords : Four wheeled robot, position tracking, sliding mode control, Wheeled inverted pendulum

Campus : Amritapuri

School : School of Engineering

Department : Electrical and Electronics

Year : 2018

Abstract : This paper proposes a study on the linearization of a four wheeled mobile robot with wheel arms, its behavior with a variable structure control for both linearized system and nonlinear system when it transform to two wheeled inverted pendulum state from four wheeled state. It also proposes a control technique to stabilize the system in inverted pendulum mode after the system transforms. Since the system have to reach the target stable state from initial state a nonlinear sliding mode controller is used for transformation mean while taking the velocity of the system into consideration and sub-optimal methods are used to minimize switching-function chattering. To stabilize the system in the inverted pendulum mode, an LQR controller has been implemented. Also the position tracking and behavior of the system using a ramp signal is studied. The transformation and movement of the robot could be achieved by two DC motors on each side of the robot.

Cite this Research Publication : J. .S.Lekshmi and Nandagopal J. L., “Control for transformation of a four wheeled to two wheeled mobile robot”, Materials Today: Proceedings , vol. 5, no. 1, pp. 1425-1431, 2018.

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