Design and Real-Time Implementation of a nonlinear regulation controller for the RMP-100 Segway TWIP. (November 2021) - Delgado-Spíndola, Alfredo
Abstract: The RMP-100 is an underactuated robot known in the literature as two wheeled inverted pendulum (TWIP). This mechanism has two independent wheels that allow to perform two tasks simultaneously: keep the inverted pendulum in its upright position (balancing) and move the robot to a specific location on the workspace terrain. This paper proposes (as an extension of the work of Gutiérrez Frías, 2013) a nonlinear Lyapunov-based controller with the purpose to stabilize the pose (position and orientation) of the robot while balancing the pendulum. Moreover, asymptotic stability is proven using LaSalle's invariance principle. Furthermore, the development of a new software for implementing real-time controllers on the RMP-100 is briefly explained; and finally, in order to validate the performance of the proposed controller, experimental results are included. Highlights: Implementation of a dynamic controller on the RMP-100 from Segway was achieved. Lyapunov stability-based control techniques allows to find stable control laws. Asymptotic stability was proved using LaSalle's invariance principle. Experimental validation was achieved using a hard real-time control system. Results show the good performance of the control system and the control law.