Next Article in Journal
Development of a Stereovision-Based Technique to Measure the Spread Patterns of Granular Fertilizer Spreaders
Next Article in Special Issue
Accuracy of Base of Support Using an Inertial Sensor Based Motion Capture System
Previous Article in Journal
Tunable Temperature Response of a Thermochromic Photonic Gel Sensor Containing N-Isopropylacrylamide and 4-Acryloyilmorpholine
Previous Article in Special Issue
The Development of the Differential MEMS Vector Hydrophone
Article Menu
Issue 6 (June) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(6), 1401; doi:10.3390/s17061401

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology

Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Author to whom correspondence should be addressed.
Academic Editor: Stefano Mariani
Received: 6 March 2017 / Revised: 10 May 2017 / Accepted: 10 May 2017 / Published: 15 June 2017
(This article belongs to the Collection Modeling, Testing and Reliability Issues in MEMS Engineering)


In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP’s position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice. View Full-Text
Keywords: two-wheeled vehicle; indoor; UWB; nonlinear; second-order sliding mode control (2-SMC); robust adaptive two-wheeled vehicle; indoor; UWB; nonlinear; second-order sliding mode control (2-SMC); robust adaptive

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Xia, D.; Yao, Y.; Cheng, L. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology. Sensors 2017, 17, 1401.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top