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Author Chen, T. ♦ Hazelwood, P. ♦ Stol, K.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2012
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Torque ♦ Navigation ♦ Wheels ♦ Trajectory ♦ Mobile robots ♦ Mathematical model
Abstract This paper describes the dynamics and control of a two-wheeled robot (TWR) traversing a step. The TWR is able to navigate obstacles by shifting its centre of mass; however this comes at the cost of higher control requirements for stability. Equations of motion are derived for the system and a controller designed taking into account the initial conditions and possible reference trajectories. The TWR can be driven to any equilibrium position on the step by linearising the plant about that point and using state regulation. Analysis and simulation show that specific initial conditions are required for the TWR to avoid rolling back off the step. Limiting conditions of the developed controller are found, which include wheel slip, motor torque limit, and parameter uncertainty. The distance of the centre of mass of the TWR from the axle is the most sensitive to deviations from nominal. The current controller is able to traverse steps up to 5.7cm in height over any ascent time longer than 4.5s.
Description Author affiliation: Department of Mechanical Engineering, The University of Auckland, New Zealand (Chen, T.; Hazelwood, P.; Stol, K.)
ISBN 9781467316439
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2012-11-28
Publisher Place New Zealand
Rights Holder AUT University
Size (in Bytes) 501.82 kB
Page Count 6
Starting Page 310
Ending Page 315


Source: IEEE Xplore Digital Library