Off-campus UMass Amherst users: To download campus access dissertations, please use the following link to log into our proxy server with your UMass Amherst user name and password.
Non-UMass Amherst users: Please talk to your librarian about requesting this dissertation through interlibrary loan.
Dissertations that have an embargo placed on them will not be available to anyone until the embargo expires.
ORCID
N/A
Access Type
Open Access Thesis
Document Type
thesis
Degree Program
Mechanical Engineering
Degree Type
Master of Science in Mechanical Engineering (M.S.M.E.)
Year Degree Awarded
2014
Month Degree Awarded
September
Abstract
This thesis presents the design, construction, and control of a two-wheeled inverted pendulum (TWIP) robotic walker prototype for assisting mobility-impaired users with balance and fall prevention. A conceptual model of the robotic walker is developed and used to illustrate the purpose of this study. A linearized mathematical model of the two-wheeled system is derived using Newtonian mechanics. A control strategy consisting of a decoupled LQR controller and three state variable controllers is developed to stabilize the platform and regulate its behavior with robust disturbance rejection performance. Simulation results reveal that the LQR controller is capable of stabilizing the platform and rejecting external disturbances while the state variable controllers simultaneously regulate the system’s position with smooth and minimum jerk control.
A prototype for the two-wheeled system is fabricated and assembled followed by the implementation and tuning of the control algorithms responsible for stabilizing the prototype and regulating its position with optimal performance. Several experiments are conducted, confirming the ability of the decoupled LQR controller to robustly balance the platform while the state variable controllers regulate the platform’s position with smooth and minimum jerk control.
DOI
https://doi.org/10.7275/6040629
First Advisor
Frank C. Sup
Recommended Citation
da Silva, Airton R. Jr., "Design and Control of a Two-Wheeled Robotic Walker" (2014). Masters Theses. 79.
https://doi.org/10.7275/6040629
https://scholarworks.umass.edu/masters_theses_2/79