Sensorless force control of tip reaction force for planar operation of a wheeled inverted pendulum robot

-Improvement of control performance of the arm by compensation of known disturbances and the investigation on the control of the wheels-

Abstract

In this research, we aim at the planar operation of a wheeled inverted pendulum robot. In order to improve the control performance of reaction force at the tip of the arm, we focused on the estimation capability of extended state observer which is applied to the control system of the arm. By compensating the known disturbances at the arm joints the control performance of the reaction force was improved. Besides, based on the dynamic model of the planar operation state of the wheeled inverted pendulum robot, we proposed a control law that adapts to the wheels of the robot. The effectiveness was proved through actual comparative experiments.