Transportation control of cooperative double-wheel inverted pendulum robots adopting Udwadia-control approach

摘要

The design and control for cooperative inverted pendulum robots are addressed in this paper. A transportation system consisting of two double-wheel inverted pendulum robots is designed for carrying baggage along a predefined trajectory, the problem lies on the control for transportation. Firstly, two robots are connected with carrier through chute structure, the junction realizes real-time stable for both inverted pendulums. Secondly, whole transportation system is regarded as a constrained multi-body system considering trajectory and is divided into three subsystem: (a) guider robot subsystem; (b) baggage and carrier subsystem; (c) follower robot subsystem, then a simple four-step procedure adopting hierarchical dynamic modeling method is applied to model the dynamic of whole system. Explicit control torques for transportation are elicited through Udwadia-control approach. Simulation is executed last to demonstrate the advantage and simplicity of proposed method.