Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty
In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expa...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/7205737 |
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| author | Khanh G. Tran Nam H. Nguyen Phuoc D. Nguyen |
| author_facet | Khanh G. Tran Nam H. Nguyen Phuoc D. Nguyen |
| author_sort | Khanh G. Tran |
| collection | DOAJ |
| description | In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expansion for the nonlinear model of the TWIR at an equilibrium point, in which the nonlinear part of the Taylor series and the model uncertainty are combined with unknown input disturbance as compound input disturbance. Then, the compound input disturbance is estimated by using the Newton method and reference model. As the estimated compound disturbance is used to compensate for the compound disturbance, the equivalent linear system becomes closely definite without compound input disturbance. Finally, two controllers are proposed using the equivalent linear system. Stability analysis of the proposed control methods is also given. To illustrate the proposed methods, some simulations for the TWIR are performed and compared with the existing methods. The main contribution of this work includes the following: (i) simple controllers based on compound input disturbance observer for trajectory tracking and balancing of TWIRs with unknown input disturbance and model uncertainty are proposed; (ii) the stability of proposed closed-loop control systems is proved; (iii) our proposed methods are simulated and compared with the existing methods. |
| format | Article |
| id | doaj-art-4bcabbb60b484f77bd9194e990e8e24f |
| institution | DOAJ |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-4bcabbb60b484f77bd9194e990e8e24f2025-08-20T03:20:14ZengWileyJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/72057377205737Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model UncertaintyKhanh G. Tran0Nam H. Nguyen1Phuoc D. Nguyen2Department of Automatic Control, School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi 11615, VietnamDepartment of Automatic Control, School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi 11615, VietnamDepartment of Automatic Control, School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi 11615, VietnamIn this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expansion for the nonlinear model of the TWIR at an equilibrium point, in which the nonlinear part of the Taylor series and the model uncertainty are combined with unknown input disturbance as compound input disturbance. Then, the compound input disturbance is estimated by using the Newton method and reference model. As the estimated compound disturbance is used to compensate for the compound disturbance, the equivalent linear system becomes closely definite without compound input disturbance. Finally, two controllers are proposed using the equivalent linear system. Stability analysis of the proposed control methods is also given. To illustrate the proposed methods, some simulations for the TWIR are performed and compared with the existing methods. The main contribution of this work includes the following: (i) simple controllers based on compound input disturbance observer for trajectory tracking and balancing of TWIRs with unknown input disturbance and model uncertainty are proposed; (ii) the stability of proposed closed-loop control systems is proved; (iii) our proposed methods are simulated and compared with the existing methods.http://dx.doi.org/10.1155/2020/7205737 |
| spellingShingle | Khanh G. Tran Nam H. Nguyen Phuoc D. Nguyen Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty Journal of Control Science and Engineering |
| title | Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty |
| title_full | Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty |
| title_fullStr | Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty |
| title_full_unstemmed | Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty |
| title_short | Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty |
| title_sort | observer based controllers for two wheeled inverted robots with unknown input disturbance and model uncertainty |
| url | http://dx.doi.org/10.1155/2020/7205737 |
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