TY - GEN
T1 - Reference Governor-Based Control for Active Rollover Avoidance of Mobile Robots
AU - Yan, Chuan
AU - Shao, Ke
AU - Wang, Xueqian
AU - Zheng, Jinchuan
AU - Liang, Bin
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Rollover is a potential dangerous factor for mobile robots to accomplish a task. However, to our best knowledge, there still lacks a systematic research on the rollover mechanism and active rollover prevention control of mobile robots in the literature. This paper aims to propose a general control framework for rollover prevention of high-speed wheeled mobile robots. First, the lateral dynamics of the robot is modelled and the Load Transfer Ratio (LTR) is used as an index to measure the rollover level. Second, an optimal algorithm-based reference governor (RG) is developed, by which the wheel speed command that satisfies the constraint is induced, retaining the actual LTR within the threshold safety value. In addition, an integral sliding mode (ISM) wheel speed tracking controller is proposed. Lastly, simulations results show that for both trajectory tracking and path following cases, the controlled robot avoids possible rollover successfully.
AB - Rollover is a potential dangerous factor for mobile robots to accomplish a task. However, to our best knowledge, there still lacks a systematic research on the rollover mechanism and active rollover prevention control of mobile robots in the literature. This paper aims to propose a general control framework for rollover prevention of high-speed wheeled mobile robots. First, the lateral dynamics of the robot is modelled and the Load Transfer Ratio (LTR) is used as an index to measure the rollover level. Second, an optimal algorithm-based reference governor (RG) is developed, by which the wheel speed command that satisfies the constraint is induced, retaining the actual LTR within the threshold safety value. In addition, an integral sliding mode (ISM) wheel speed tracking controller is proposed. Lastly, simulations results show that for both trajectory tracking and path following cases, the controlled robot avoids possible rollover successfully.
KW - mobile robots
KW - optimal control
KW - path following
KW - reference governor (RG)
KW - rollover avoidance
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85124307865&partnerID=8YFLogxK
U2 - 10.1109/SMC52423.2021.9659171
DO - 10.1109/SMC52423.2021.9659171
M3 - 会议稿件
AN - SCOPUS:85124307865
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 429
EP - 435
BT - 2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021
Y2 - 17 October 2021 through 20 October 2021
ER -