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− − − + =
+ ( cos − sin )
=
= , , , 3
Torque (N.m)
which is the solution of the system. The vector function of the 2
( , )= = , , , 0
Here we will use the RK4 method to find the current solution xi -1
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
using the solution xi-1 from the previous time step
Fig. 4. Open loop free response of the inverted wheeled robot
= + ( /6) ∗ ( + 2 + 2 + )
where
III. STABILIZING CONTROL
= ( , ), The control problem can be pursued by solving the
= ( + /2, + ∗ /2), stabilization problem independent of the steering problem.
function (13). The added pole cancels the zero of the open loop 2
system. On the other hand, adding the two zeros attracts the
Imag
0
closed loop poles move to the two zeros, one stays with the zero -6
at the origin while the fourth one moves to -∞. This design -8
strategy allows to move all the closed loop poles to stable -10
locations, we choose here a conjugate pair closer to the zeros of Fig. 5. Root locus plot of the system using the open-loop transfer function
the controller which corresponds to a root locus gain of -5.0. (13), and a PID controller with a pole at 0 and two zeros at -5± j3
This yields the following controller
5,
and 7 seconds. The actuation torque, as indicated in Fig. 8,
( ) = −5( + 5 + 2)( + 5 − 2)(1/ ) ( ) increased at these instances to cope with the transient responses.
Rewriting (14) as
V. CONCLUSIONS
( ) = −5(10 + 29/ + ) ( ) The inverted wheeled robot is a classical problem that is
used intensively to test proposed controllers for a wide class of
it can be seen that the resulting PID controller has a proportional inherently unstable systems. A coupled nonlinear model that
gain Kp = -50.0, an integral gain KI = -145.0, and a derivative describes the dynamics of such robot is derived in this paper.
gain KD = -5.0. In the time domain, the controller that regulate The developed model is employed to simulate and animate the
the system in an upright position could thus be implemented as controlled robot for forming a virtual controller-testing setup.
Both open-loop and closed loop control systems are simulated
( ) = −50 ∗ ( ) − 145 ∗ ( ) − 5 ∗ ( ) and animated. The open-loop simulation is conducted by
solving the nonlinear dynamic equations recursively using the
RK4 method. The nonlinear model is linearized and used to
To control the horizontal motion = ( ), a simple
control the considered robot in a closed-loop configuration. In
Proportional controller could be used as indicated below
the closed-loop configuration, the pendulum tilting angle and the
( ) = −2 ∗ ( )− ( )
6
A controller that stabilizes and control the motion of the robot
is obtained by adding (16) and (17). 5
from as indicated on the figure. The robot picked up a motion in Time (sec)
Torque (N.m)
2
0
Fig. 7. Animation window for the controlled inverted wheeled robot with a
instruction and notification for the user and display of values of the states
-2