Robust H-infinity Backstepping Control Design of a Wheeled

Inverted Pendulum System

Nguyen Thanh Binh1, Pham Duc Dai2, Nguyen Duy Long3, Nguyen Anh Tung4, Dao Phuong Nam5
1
Thuy Loi University, 2Hanoi University of Science and Technology

Abstract
The issue of applying H to control wheeled inverted pendulum is a topic of much concern on account of
underactuated and nonlinear model. Authors in [5] selected Lyapunov candidate function presented following HJ
equation. Almost previous papers using H - infinity to control WIP must assume that desired accelerator is zero
and model is linearized at origin, leading to that system does not obtain global asymptotical stability when angular
error leave neighborhood of origin. In this paper, we propose a new control method applying H - infinity and
Backstepping technique based on Lyapunov direct method to stabilize tracking error to converge to arbitrary ball
of origin. The simulation results of WIP under disturbances belonging L2 space demonstrate the effectiveness of
the proposed controller.

Keywords
H control, Backstepping design, Wheeled Inverted Pendulum, Linear Matrix Inequalities.

1. INTRODUCTION
The dynamic model and several control methods are Distance between two wheels D
presented in [1]. In this content, we use dynamic model Radius of wheel R
of WIP built by Newton Euler method. This model is Moment of inertia of the wheel about J
separated into two subsystems, in that the subsystems y - axis
describe rotation of Cart and straight motion of WIP Moment of inertia of the chassis and Jp
which is similar to Cart-Pole model. Authors in [2], [3] pendulum about z - axis
approached to control inverse pendulum based on Moment of inertia of the chassis JM
energy function, but the disadvantage of them is that about y - axis
disturbances impacting on considered system is Moment of inertia of heading angle J
ignored and pendulum always fluctuate around origin. pendulum about z - axis
Olfati-Saber [4] proposed coordinate transformation to Mass of load m
change Cart-Pole model to strict forward system to Mass of chassis M
apply nest saturation method. This transformation will Mass of wheel M
not be effective, when some parameters are
Gravity acceleration g
uncertainties or disturbances appear. Therefore,
K.D.Do [6] using the similar transformation in [4] and Distance between central point load l
combines with nest saturation method, disturbance and chassis
observer to steady error to converge to origin Table 1. Parameter of WIP
asymptotically with assumption of zero straight
accelerator of Cart. Researchers in [7] apply properties Heading angle of pendulum
of nonholomic system and backstepping technique, but Tilt of pendulum
their drawback is assumption of satisfying state Torque control in left and right wheel L , R
constraints. The instantaneous switching of control x
Position of chassis
input is proposed in [8], nevertheless, position of Cart
Disturbances impacting on two d L , d R
is not able to stabilize at desired point.
wheels
In this paper, we apply H infinity method in [5] for
Table 2. Variable of WIP
rotation motion and the adding controller is proposed
to straight motion subsystem. The first controller built
By applying Newton Euler Approach in [1], the
by Lyapunov direct method guarantee that angle and
dynamic model of WIP is:
angular velocity error converge to neighborhood of
D D
origin. In this region, we add the second controller L R d L d R (1)
constructed by H infinity to ensure that all state 2 RJ 2 J
variables lie in small arbitrary ball of origin. Finally, in J
order to avoid instantaneous change of control torque ml cos M m 2 2 M
x
phenomenon, we propose virtual control input that is R (2)
designed by backstepping technique in [9].
ml2 sin L R d L d R
R
2. Dynamic model ml 2 J M ml cos
x mgl sin (3)
Parameter Symbol
Where
 J guarantee tracking error to converge to origin and to
J J p D 2 M 2 (4) obtain its robust stability.
R
Assumption 1: 1
AT P1 P1 A P1 2 B2 B2T B1 B1T P1 H T H 0 (18)
d R d R max ; d L d L max (5)
J u1 B1T P1
M m 2 2 M ml J m l 0
2 2 2
(6) (19)
R
T T

Control objective: The tilt angle, position and their 2
y u1
2
dt 2 d
2
dt (20)
derivative track each desired value and heading angle 0 0
converge zero. Proof:
d 0, 0, x xd 0 (7) Selecting Lyapunov candidate function:
d 0, 0, x xd 0 V1 T P1 (21)
(8) dV1
if d L 0, d R 0 T AT P1 P1 A 2u1T B1T P1 2dT B2T P1 (22)
dt
Moreover, uniform bounded in tracking error if
Substituting (19) into (22)
d L d L max , d R d R max (9)
dV1
Variable and parameter changes are used as follows: T AT P1 P1 A 2 P1 B1 B1T P1 2dT B2T P1 (23)
dt
d L d R d ; d L d R d Substituting (18) into (23)
1 1 (10)
L R 1 ; L R 2 dV1 1
R R T P1 2 B2 B2T B1 B1T P1 H T H
dt (24)
J
M 11 M m 2 2 M T T
2d B2 P1
R
dV1 1 2 2
M 12 M 21 ml cos (11) 2 T P1 B2 B2T P1 u1 y 2 dT B2T P1 (25)
dt
M 22 ml 2 J M
dV1 2 2 2
Substituting (10) and (11) into (1), (2) and (3): u1 y 2 d (26)
dt
D D Remark 1: Let P11 T , is appropriately selected.
1 d (12)
2 J 2 J The existence of solution in (28) satisfies H [5]. The
system will be applied input (19) for stabilization.
x M12 ml2 sin 2 d
M11 (13) Multiplying P 1 in left and right side of (18)
x M 22 mgl sin
M 21 (14) 1 T
P11 AT AP11 2 B2 B2T B1B1T HP11 HP11 0 (27)
3. PROPOSED METHOD
The above equations is separated into two subsystem: Schur complement is applying in (27) to be equivalent
system (12) and x, system (13-14) to (28)
A. Control design for system T 1 T T T
Set AT AT 2 B2 B2 B1 B1 HT 0 (28)
2J
1 u1 ref (15) HT I
D B. Control design for x, system
D D
e u1 d (16) Subsystem (13) and (14) is equivalent to (30) and (31)
2 J 2 J by using local feedback linearization (29):
e ref
m 2 gl 2
Considering subsystem (16) as follows: 2 ml2 sin cos ( ) sin
ml 2 J M
A B1u1 B2 d (29)
(17) 2 2 2
y H
J m l cos
M m 2 2 M u
xd
R ml 2 J M
0
T 0 1 D ,H 0
e ,e , A ,
1 B B2
a cos u ag sin a cos xd (30)
0 0
2 J

xe u (31)
Theorem 1: By selecting positive scalar , there exists
a matrix P1 P1T 0 satisfying inequality (18) H-
infinity [5]. The control input (19) ensures (20) to
 ml 2 dV k1 k 2 g sin
a [ acos
ml 2 J M dt cos
d (32) x ] 2
ag sin a cos
2 2 2
d
(37)
J m l cos k1 k 2 g sin
M m 2 2 M [ acos
R ml 2 J M cos
The disired position and velocity of WIP are xd , xd ag sin a cos
xd ]
xe x xd ; xe x xd
Remark 2: It is difficult to directly design a H dV
a k1 k2 a cos
xd
controller for subsystems (30) (31) because of dt
underactuated property and interconnect control input 2
(38)
in both two equations. We propose the Lyapunov direct
method for , to lead to given attractor where the a k1 k2 a cos
xd

linearization model can be applied. The proposed H dV
controller guarantee that x , x track to the desired value ak1 1 2 ak2 ak1
dt (39)
and , are bounded by neighborhood origin ak2 2 a cos
xd
simultaneously. Because the proposed method includes
Choosing: ak 2 ak1
two subcontroller, the switching must be employed.
dV
38 ak1 1 2 ak 2 2
dt
Assumption 2: Disturbances and parameters satisfy 2 (40)
a cos
2 2 xd
max ,
xd
xd max (33) a cos
4

Coefficient k1 , k2 are selected as follows:

J
M m 2 R 2 M ml J m l 0 (34)
2 2 2
ak1 1 a 2 1 ; 1 0
(41)
ak 2 a 2 2 ; 2 0
Applying (41) into (40):
dV 2
xd2 max
12 2 2 max (42)
dt 2
If we choose 1 , 2 , such that:
2max
xd2 max 2 max
2

xd2 max
12 , 2 (43)
1 2 2 2
Then:
Figure 1. Control Structure for WIP
, : x1, x2 R2 | x1 1, x2 2 (44)
Theorem 2: Considering subsystem (30) under (33) When the angle of pendulum converges to the origin
and (34). By applying control torque (35) found by due to control law (35), we linearize (30) and (31)
Lyapunov direct method with k1 , k2 are coefficients of around origin of pendulum where 0 0 and
controller, two variables , converge to the arbitrary u u , u as following:
2 3

attractor R 1 , 2 .
2
F Gu3 K
xd
(45)
k k2 g sin C
u2 , 1
(35)
cos 0 1 0 0 0 0
Proof: ak ak1 0 0 a a
The Lyapunov candidate function is selected: F 2
G K
xe 0 0 0 1 0 0
1 1
V , 2 2 ; 1 (36)

2 2 xe k2 g k1 0 0 1
1

The derivative of V , in (36) is
V2 T P2 (46)
Applying H - Vandershaft [5] into subsystem (45) and
the Lyapunov candidate function (46)
 2
1 By choosing 3 G T P2 K then we have same
F T P2 P2 F P2 2 KK T GG T P2 C T C 0 (47)
1 results as theorem 1.
G P2 when ,
T

u3 (48) 4. SIMULATION
0 otherwise Scenario simulation: The objective of this work is to
Remark 3: Following remark 2 and controller (48), the guarantee x, x , , to track given desired strategies
applied switching may cause instantaneous change of
xd , xd ,d ,d with unbalanced initial state. The good
control input, leading to unreality. Therefore, a virtual
input in (49) is proposed to reduce this problem performance of simulation result demonstrates the
significantly. The new linear state space model with ability of the proposed control law.
virtual input is considered as:
Parameter Value
F Gu3 K xd Distance between two wheels D 0.15m
(49) Radius of wheel R 0.25m
u3 z
Theorem 3: The proposed virtual control input (49) Moment of inertia of the wheel J 1.5kg.m2
will be designed and based on backstepping following about y -axis
(50) to satisfy remark 3. Moment of inertia of the chassis J M 2.5kg .m 2
about y - axis
V u
z u3 u 2 G F Gu3 (50) Moment of inertia of heading J 1.5kg.m2
angle pendulum about z - axis
Where 0 is given and odd number q, V2 is the above Mass of load m 1.5kg
Lyapunov candidate function designed by H in [5] and Mass of chassis M 5kg
u is control law generated from (48)
Proof: Mass of wheel M 1kg
Backsteping technique is applied in (49), the third Gravity acceleration g 9.8m / s 2
Lyapunov function together (46)
Distance between central point l 1.2 m
1 2
load and chassis
V3 V2 u3 u (51)
2 Table 3. Parameter values in simulation
The derivative of V3 is
dV3 V2 u Initia state variable Value
u3 u z (52) 0 0.5rad
dt
dV3 V2 0 0rad / s
dt


F G u3 u u K xd 1.5m
x 0
(53)
u x 0 0m / s
u3 u z

xd
F Gu3 K
0 0.8rad
dV3 V2
dt


F Gu K xd 0 0.2 rad/ s
(54) Table 4. Initia state in simulation
V u
u3 u z 2 G

F Gu 3 K
x d


The virtual input z will be selected as (50), (54) - x, system controller
becomes 100; 1 0.1; 1 1; 1 100
dV3 V2
dt

x
F Gu K xd (55)
C diag [0.1, 0.1, 2, 0.2]
2 Simulation value
u3 u u3 u GT P2 K
xd
system controller
dV3 2 2 1 2 1.5
u3 12
xd
dt 43 H diag 100,1
(56)
2 2
u3 u 3 u3 u GT P2 K u1 884.43 477.63 e , e
T

dV3 2 2 1 2 Table 5. Subsystem (17)

u3 12
xd
dt 43 (57)
Simulation x, Value
u3 u
2
3
T
G P2 K
2
system controller
100
1 0.3
2 1
1 2.78
2 0.25
k1 48.41
k2 39.27
C diag 0.1, 0.1,1.2, 0.1
1 100
u3 98.49,31.99,3.44,10.65
Table 6. Subsystem (30) (31)

Figure 2. Tracking angle,stable angle, tracking position, two

torques and disturbances are illustrated
This system is able to self-balance and straight
velocity, heading angle track reference signal under
disturbances. Control forces is continuous.

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