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Dynamic Analysis, Simulation and Control of a Single-Axel Two-Wheeled Vehicle

Ayatollahzadeh Shirazi, Hossein | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42508 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. In the recent decade many researches have been done on optimizing urban traffic. The invention of single-axel two-wheeled vehicle -which is also known as Segway- is toward this goal. This vehicle was invented in 2002 by Dean Kaman. The Segway doesn’t need fossil fuels, occupies very little space, is very convenient to use and its parallel wheel configuration makes it compact enough to be maneuvered through most spaces. After the invention of the Segway, two wheel balancing robots has attracted more attention and in recent researches Passenger-carrying capacity has been considered. In this project, by taking into account passenger-carrying capacity and possibility of wheel slippage, an exact model for the dynamics of a two wheeled balancing robot was derived. In this model, different modes for wheel's rotation including rolling or slipping for both wheels and rolling for one wheel and slipping for the other one are considered. In this research, by comparing model's output with results of simulation motion in ADAMS, equations of motion were validated. Next, an adaptive critic-based neuro-fuzzy and a sliding mode controller -which is a robust nonlinear controller- are designed. Both of these controllers are robust and can be used for robot on slippery surfaces but since in design of adaptive critic-based neuro-fuzzy controller equations of motion are not required, its sensitivity to parameter uncertainty is lower and hence is more appropriate in this application. Also in simulations better results were achieved using adaptive critic-based neuro-fuzzy controller and stabilization time was shorter.
    Finally a prototype of the robot was fabricated. Unfortunately due to time deficiency controller schemes were not applied to the robot. In future application of these controllers and their merit can be studied in experiments.
  9. Keywords:
  10. Robust Control ; ROBUST CONTROL ; Nonlinear Control ; Inverted Pendulum ; Two-Wheeled Balancing Robot

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