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Indexed by:Journal Papers

Date of Publication:2018-01-01

Journal:IEEE Transactions on Industrial Informatics

Volume:15

Issue:6

Page Number:3368-3378

ISSN No.:15513203

Key Words:Couplings; Cranes; Electric drives; Kinematics; Motion control; Numerical methods; Particle swarm optimization (PSO); Pendulums; Planning; Proportional control systems; Stabilization; Trajectories; Two term control systems; Vehicles; Wheels, Informatics; Non holonomic constraint; Parameters optimization; Particle swarm optimization algorithm; Proportional integral derivative control; Trajectory planning method; Underactuated; Wheeled inverted pendulum, Motion planning

Abstract:Point stabilization control of wheeled inverted pendulum (WIP) vehicles remains a challenge because of the existing nonholonomic and underactuated characteristics. This paper proposes a point stabilization control method for the WIP vehicle based on motion planning, where a point-to-point motion is achieved by performing pivot steering and longitudinal motion successively to avoid the nonholonomic constraint. Specifically, to handle the underactuated problem, a kinematic coupling-based longitudinal trajectory planning approach is presented, by which both precise longitudinal movement and stability of vehicle body can be guaranteed. Moreover, a mathematical model of parameters optimization problem is deduced with strict analysis, and then the particle swarm optimization (PSO) algorithm is used to obtain the appropriate trajectory parameters, which ensures the good performance of the trajectory planning method. On this basis, the point stabilization of the WIP vehicle can be effectively realized through a commonly-used proportional-integral-derivative (PID) control approach. Numerical simulation and experimental study are both conducted to demonstrate the feasibility and effectiveness of the proposed method. IEEE