Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

• Published in: International journal of control, automation, and systems Vol. 13; no. 5; pp. 1201 - 1211
• Main Authors: Park, Ill-Woo, Kim, Jin-Oh, Oh, Myung-Hwan, Yang, Woosung
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2015; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Communication; Control; Control algorithms; Control systems; Control theory; Controllers; Engineering; Feedback; Feedback control; Mechatronics; Regular Papers; Robotics; Robots; Sensors; Stabilization; Studies; Velocity; Wheels; 제어계측공학; feed-forward; mobile robot; zero-moment point; Feedback
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-013-0508-8

This paper concerns the composition method of a model based feedforward and sensor based feedback control realization of a mobile robot that has high center of gravity. The robot is comprised of a mobile base, which has two active wheels for locomotion, and body, which has a pitch and roll actuator connected to the mobile base. In this type of a mobile robot, the stabilization (against tip over) problem takes an important role in high performance mobility realization. The control method is explained from the viewpoint of controlling ZMP (Zero moment point). The composition control method (Model based feed-forward control and sensor based feedback control) is proposed and verified experimentally. The mobile robot’s (weighs about 96kg) mobility performance with 2m/s speed and 1m/s 2 acceleration was achieved using this approach. In addition, the sensor based feedback controller contributes to increasing stability.