Combining Two Control Techniques for the Fast Movement of a Two-Wheel Mobile Robot

• Published in: International journal of HR : humanoid robotics Vol. 12; no. 2; pp. 1550020 - 1-1550020-14
• Main Authors: Cho, Sung Taek, Jung, Seul
• Format: Journal Article
• Language: English
• Published: Singapore World Scientific Publishing Company 01.06.2015; World Scientific Publishing Co. Pte., Ltd
• Subjects: Balancing; Controllers; Education; Humanoid; Movement; Oscillations; Robot control; Robots; Tracking; Tracking (position); balancing control; control fusion; sigmoidal function; Two-wheel mobile robot; weighting factor; fast movement
• ISSN: 0219-8436; 1793-6942
• DOI: 10.1142/S0219843615500206

Control of two-wheel mobile robots (TWMRs) is quite a challenging subject for researchers and educators. Control performance of TWMRs is to satisfy both stable balancing and position tracking simultaneously. When the TWMR is moving fast in forward direction with a proportional-derivative (PD) control method, fast movement to the desired position can be achieved. However, larger oscillations in both the balancing angle and position occur. The time-delayed control (TDC) method reduces the oscillation, but its response is relatively slow. The goal of this paper is to provide a solution to satisfy both stable balancing and position for fast forward movements. This paper presents a control fusion approach between a PD control method and a TDC method to make the performance better. Two controllers are fused together with different weighting factors on the basis of a sigmoidal function to satisfy the control performance. Experimental studies are conducted to validate the proposed control approach.