Dynamic Modelling Of A New Configuration Of Two Wheeled Robotic Machine On An Inclined Surface

被引：0
|
作者：
Agouri, S. [1 ]
Tokhi, O. [1 ]
Almeshal, A. [1 ]
Sayidmarie, O. [1 ]
Goher, K. [2 ]
机构：
[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield, S Yorkshire, England
[2] Sultan Qaboos Univ, Dept Mech & Ind Engn, Muscat, Oman
来源：
2012 17TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on a novel type of two wheeled robotic system. The system poses a challenging control problem in terms of combining upright balance, stability and maneuverability. The system is designed with the ability to move on irregular terrains such as frictional and inclined surfaces. The work investigates the dynamic modeling and control of the two-wheeled robotic machine moving on an inclined surface. This paper presents the dynamic modeling of the proposed system using the Lagrange approach. The model is built in Matlab Simulink environment and its controllability tested with a Proportional-integral-derivative (PID) control mechanism.
引用
收藏
页码：315 / 318
页数：4
相关论文
共 35 条
  • [1] Dynamic modelling and stabilization of a new configuration of two-wheeled machines
    Almeshal, A. M.
    Goher, K. M.
    Tokhi, M. O.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (05) : 443 - 472
  • [2] A new configuration of a two-wheeled double inverted pendulum-like robotic vehicle with movable payload on an inclined plane
    Almeshal, A. M.
    Goher, K. M.
    Tokhi, M. O.
    Agouri, S. A.
    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES), 2012, : 97 - 102
  • [3] BFA OPTIMISATION OF CONTROL PARAMETERS OF A NEW STRUCTURE TWO WHEELED ROBOT ON INCLINED SURFACE
    Agouri, S. A.
    Tokhi, M. O.
    Almeshal, A. M.
    Goher, K. M.
    NATURE INSPIRED MOBILE ROBOTICS, 2013, : 189 - 196
  • [4] BALANCING AND CONTROL OF A TWO-WHEELED ROBOT ON INCLINED SURFACE
    Sayidmarie, O. K.
    Agouri, S. A.
    Tokhi, M. O.
    MOBILE SERVICE ROBOTICS, 2014, : 141 - 148
  • [5] MODELLING, SIMULATION AND BALANCE CONTROL OF A TWO-WHEELED ROBOTIC MACHINE WITH STATIC VARIATION IN LOAD POSITION
    Goher, Khaled M. K.
    Tokhi, M. O.
    22ND EUROPEAN CONFERENCE ON MODELLING AND SIMULATION, PROCEEDINGS, 2008, : 181 - +
  • [6] MODELLING OF TWO-WHEELED ROBOTIC WHEELCHAIR WITH MOVING PAYLOAD
    Almeshal, Abdullah M.
    Tokhi, M. O.
    Goher, Khaled
    FIELD ROBOTICS, 2012, : 731 - 741
  • [7] Dynamic modelling of a two-wheeled vehicle: Jourdain formalism
    Nehaoua, L.
    Arioui, H.
    Seguy, N.
    Mammar, S.
    VEHICLE SYSTEM DYNAMICS, 2013, 51 (05) : 648 - 670
  • [8] IMPACT OF PAYLOAD INERTIA ON THE SYSTEM DAMPING CHARACTERISTICS OF A TWO-WHEELED ROBOTIC MACHINE
    Goher, K. M.
    Tokhi, M. O.
    Almeshal, A. M.
    Sayidmarie, O.
    Agouri, S. A.
    ADAPTIVE MOBILE ROBOTICS, 2012, : 113 - 120
  • [9] Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with two robotic arms
    Cheng, MP
    Tsai, CC
    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 2932 - 2937
  • [10] A New Configuration of Two Wheeled Vehicles: Towards a More Workspace and Motion Flexibility
    Goher, Khaled
    Ahmad, Salmiah
    Tokhi, Osman M.
    2010 IEEE INTERNATIONAL SYSTEMS CONFERENCE, 2010, : 524 - 528
1234