JRM Vol.11 No.5 pp. 356-361
doi: 10.20965/jrm.1999.p0356


Reaction Force Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor

Nobuaki Hiraoka* and Toshiro Noritsugu**

*Takamatsu National College of Technology, 355 Chokushi-cho, Takamatsu 761-8058, Japan

**Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan

April 16, 1999
June 5, 1999
October 20, 1999
reaction force control, stepping motor, fuzzy control, cooperative transport, parallel biwheel vehicle

Reaction force control of a parallel biwheel vehicle (PBV) driven with two stepping motors in open loop mode is used for holding and transporting objects. The inverted pendulum type unstable PBV’s attitude is regulated by a discrete time sliding mode controller. Reaction force is generated by contacting and leaning the PBV body toward objects and reaction force magnitude is controlled by a fuzzy logic controller whose nonlinear control achieves a quick, calm response. For a square wave force reference up to 1 N, the PBV quickly follows a reference signal without overshoot and maintains a steady reaction force. Control performance is discussed in detail aid compared to PI force control. The two PBVs cooperatively transport an object.

Cite this article as:
Nobuaki Hiraoka and Toshiro Noritsugu, “Reaction Force Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor,” J. Robot. Mechatron., Vol.11, No.5, pp. 356-361, 1999.
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Last updated on May. 04, 2021