Research Papers - Dept of Computer Systems Engineering

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Author: search.filters.author.Abeygunawardhana, P. K. WSubject: search.filters.subject.Double inverted pendulum

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    Stability improvement of two wheel mobile manipulator by real time gain control technique
    (IEEE, 2007-08-09) Abeygunawardhana, P. K. W
    Abstract: Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. Disturbance observer has been employed to cancel the disturbances.
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    Self-sustaining control of two-wheel mobile manipulator using sliding mode control
    (IEEE, 2010-03-21) Abeygunawardhana, P. K. W; Defoort, M; Murakami, T
    Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand sliding mode control is a good candidate to address the nonlinear/under actuated system. This paper presents the control methods for balancing of two-wheel mobile manipulator. This paper proposes a novel second order sliding mode controller using twisting algorithm, disturbance observer and dynamics of double inverted pendulum. Dynamics of double inverted pendulum is used to design the control equation of sliding mode controller. Twisting algorithm is used to design the control input. Disturbance observer is compensated model uncertainties and external disturbances. Posture of two wheel mobile manipulator can successfully stabilized by this novel controller.