Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

摘要

When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme.