EE 141 Project Winter 2014

Due on March 14 by 5pm

Consider the segway type robot in the gure above. Its dynamics is given by the following nonlinear dierential equations: 2 g cos ) (Ic + R(mc + ms )) ms dR cos2 x = R F + ms sin (d = g sin Ic + R(mc + ms )) R cos (F + ms d 2 sin d Ic + R(mc + ms ) + ms d2 R cos2 where we assume that both wheels move with the same velocity so that the robots translational motion is restricted to a line. We denote the position of the robot on this line by x. The angle between the robots body and its natural upright position is . The following parameters are used in the equations: Symbol g R d mc ms Ic Value 9.81 ms2 0.062 m 0.035 m 2 0.14 kg 2.6 mc kg 1 m R2 kg m2 2 c Description gravitational acceleration wheel radius distance from center of wheel to center of mass wheels mass (2 wheels) bodys mass (2.6 kg is the total robot mass) wheel inertia

and F is the force applied on the robot through its wheels. Since we can control this force by regulating the current sent to the motors attached to the wheels, we consider F as the input. We seek to design a controller that balances the robot in its upright position. 1

Problem I: Choose an equilibrium point compatible with = 0 and x = 0. Linearize the dierential equations around that equilibrium. Problem II: Consider the linearized equations governing the angle . Through simulation, determine how much the initial conditions can deviate from the equilibrium while keeping the error between the trajectories of the linearized and the nonlinear model below 10%. Problem III: Do the linearized equations governing the angle dene a stable system? Problem IV: The region of attraction of an equilibrium is the largest set of initial conditions S satisfying the following property: any trajectory starting from S asymptotically converges to the equilibrium. Design a controller that stabilizes the linearized model and that renders the region of attraction of the equilibrium for the nonlinear model as large as possible. Problem V: Solve again Problem II but using the controller you found in Problem IV. Comment on what you observe. Problem VI: Simulate the evolution of x using the nonlinear equations and the controller you found on Problem IV. Does x converge to a specic location? Comment on what you observe. Problem VII: Test how robust your controller is by simulating the nonlinear model start = . How large can you make while ing from the angle = 0 and angular velocity guaranteeing that the robot returns to its upright position?