Revolutionary Control System Boosts Safety of Ballbot Drive Micromobility Vehicles
A team of international researchers, led by Professor Nguyen Xuan-Mung from Sejong University, has developed a revolutionary control system for ballbot drive micromobility vehicles (BDVs). The study, published in IEEE Transactions on Intelligent Vehicles, introduces a Combined Control System (CCS) integrating Partial Feedback Linearization (PFL) and Sliding Mode Control (SMC) methods, aiming to enhance urban transportation.
The innovative control system, named DOB-CCS and equipped with a Disturbance Observer (DOB), maintains stability even under extreme conditions. Real-world testing demonstrated the BDV platform's resilience, as it withstood a forceful kick of around 300 N and stabilized within seven seconds. The study highlights the commercial potential and social impact of BDVs, serving as a safe alternative to scooters and bicycles for urban commuting and as service robots in various settings.
In trajectory tracking tests, the DOB-CCS reduced error rates by nearly 7.8% compared to the baseline controller. This advancement addresses stability, adaptability, and performance issues of micromobility vehicles under external disturbances, paving the way for improved urban transportation solutions.
The successful development and testing of the DOB-CCS control system for BDVs opens new possibilities for safe, efficient, and adaptable micromobility solutions in urban environments. With its reduced error rates and robust stability, this technology has the potential to transform urban transportation and service robotics.
