Modelling and stabilization of a series of self-balancing two-wheel vehicles

Mansour Karkoub, M. Zribi, M. Parent

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This article deals with the modelling and control of a series of two-wheel vehicles connected via linear springs. The wheels of the two-wheel vehicles are connected to the side of the chassis via gear boxes and motors and rotate around the same axis. A non-linear dynamics model is derived for the system assuming that the vehicles move in tandem on a straight path. The system is underactuated and inherently unstable. A control scheme is designed to stabilize the vehicles all at the same time. The control technique used in this work is passivity based and guarantees the asymptotic convergence of the states towards stable trajectories. The non-linear control law is used to bring the states near the desired positions; subsequently, a second linear controller takes over to make the states converge towards the desired positions. The simulation results presented in this article show the success of the control schemes in controlling a system with two two-wheel vehicles.

Original languageEnglish
Pages (from-to)221-231
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Volume224
Issue number2
DOIs
Publication statusPublished - 1 Jan 2010

Fingerprint

vehicle wheels
Vehicle wheels
Stabilization
stabilization
vehicles
chassis
Chassis
wheels
dynamic models
passivity
boxes
Gears
Dynamic models
controllers
Wheels
Trajectories
trajectories
Controllers

Keywords

  • B2-train
  • non-linear control
  • self-balancing
  • two-wheel vehicle

ASJC Scopus subject areas

  • Mechanical Engineering
  • Condensed Matter Physics

Cite this

Modelling and stabilization of a series of self-balancing two-wheel vehicles. / Karkoub, Mansour; Zribi, M.; Parent, M.

In: Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, Vol. 224, No. 2, 01.01.2010, p. 221-231.

Research output: Contribution to journalArticle

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