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.