• Intelligent robust disturbance rejection control of a ballbot drive micromobility vehicle

Xuan-Mung, Nguyen ORCID: https://orcid.org/0000-0001-5632-9399, Pham, Dinh Ba, Duong, Xuan Quang, Van, Mien ORCID: https://orcid.org/0000-0001-9616-6061, Sareh, Sina ORCID: https://orcid.org/0000-0002-9787-1798, Shojaei, Khoshnam, Asadi, Ehsan ORCID: https://orcid.org/0000-0002-4835-2828, Lee, Soon-Geul ORCID: https://orcid.org/0000-0002-4588-6736 and Khayyam, Hamid ORCID: https://orcid.org/0000-0002-9051-1028, 2023, Journal Article, Intelligent robust disturbance rejection control of a ballbot drive micromobility vehicle IEEE Transactions on Intelligent Vehicles. pp. 1-9. ISSN 2379-8904

Abstract or Description:

We propose a hybrid adaptive control method with robust disturbance rejection for a novel personal micromobility vehicle that uses ballbot drive mechanics with a single spherical wheel. Intelligent control of such a micromobility vehicle is significantly sensitive to discrete events of short duration and high-intensity road disturbances and shocks. Sudden bumps, potholes, pavement or kicks typically cause these events. Our approach combines adaptive disturbance observer (DOB) with two other techniques to achieve better and more robust nonlinear control of a ballbot drive vehicle (BDV) against small to large external disturbances. The proposed hybrid DOB-Based combined control system (DOB-CCS) stabilizes the body position via a DOBbased partial feedback linearization (PFL) strategy while enabling ball movement on the floor by introducing a DOB-based sliding mode control (SMC). The control scheme consists of linearly combined components responsible for maintaining an upright posture about unstable equilibrium points and tracking the motion under disturbances. Simulations, real-platform experiments and respective comparative studies show the efficacy of the proposed method for a BDV to reject external disturbances. The practical performance of the proposed DOB-CCS strategy is experimentally validated and compared with a CCS method. The experimental results indicate less than 0.7 and 1.5 degrees of ballbot's orientation error and robust rejection of disturbances under kicks during balancing and transferring modes, respectively

Subjects: Creative Arts and Design > W200 Design studies
School or Centre: School of Design
Identification Number or DOI: https://doi.org/10.1109/tiv.2023.3345832
Uncontrolled Keywords: Artificial Intelligence; Control and Optimization; Automotive Engineering
SWORD Depositor: Unnamed user with username publicationrouter
Date Deposited: 07 Feb 2024 11:53
Last Modified: 09 Feb 2024 10:21
URI: https://researchonline.rca.ac.uk/id/eprint/5652
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