Pilot control of an auto-balancing two-wheeled cart

Mi Ching Tsai; Jia Sheng Hu

doi:10.1163/156855307780429785

Pilot control of an auto-balancing two-wheeled cart

Mi Ching Tsai, Jia Sheng Hu

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

Abstract

The control system of an auto-balancing two-wheeled cart (ABTWC) is inherently unstable, displays a non-minimum phase and can be piloted by a joystick that has 2 d.o.f. This paper employs a state feedback technique to design the stabilizing controller for an ABTWC and develops a pilot algorithm, i.e., differential steering, which converts two joysticks' commands into two torque directives for transportation. This allows the user to operate this cart linearly for both motion and orientation control via a joystick. Control examples are given to illustrate the feasibility and the effectiveness of the proposed controller and pilot algorithm.

Original language	English
Pages (from-to)	817-827
Number of pages	11
Journal	Advanced Robotics
Volume	21
Issue number	7
DOIs	https://doi.org/10.1163/156855307780429785
Publication status	Published - 2007 Jun 1

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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10.1163/156855307780429785

Cite this

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title = "Pilot control of an auto-balancing two-wheeled cart",

abstract = "The control system of an auto-balancing two-wheeled cart (ABTWC) is inherently unstable, displays a non-minimum phase and can be piloted by a joystick that has 2 d.o.f. This paper employs a state feedback technique to design the stabilizing controller for an ABTWC and develops a pilot algorithm, i.e., differential steering, which converts two joysticks' commands into two torque directives for transportation. This allows the user to operate this cart linearly for both motion and orientation control via a joystick. Control examples are given to illustrate the feasibility and the effectiveness of the proposed controller and pilot algorithm.",

author = "Tsai, {Mi Ching} and Hu, {Jia Sheng}",

note = "Funding Information: This work was supported by the National Science Council (NSC) of Taiwan, ROC, under grant project NSC 93-2213-E-006-008. The authors are grateful to Ultralife Taiwan, Inc. and Elebike Co., Ltd. for supporting the lithium–iron battery and the wheel motors which were helpful in this research. The authors would like to thank Mr. Michael J. Newkirk and anonymous reviewers for helping to improve the quality of this paper.",

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Pilot control of an auto-balancing two-wheeled cart

Abstract

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