Modeling and Decoupling Control for Two-Wheeled Self-Balancing Robot
Authors:
- 8 August 2016
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 5263-5267
Abstract
Dynamic modeling and state feedback control are presented for the two-wheeled self-balancing control robot (TWSBR) which is high-order, nonlinear, heavy couple and unstable. Firstly, Newtonian dynamics method is derived to obtain the dynamics equations of TWSBR nearby the equilibrium point. Secondly, some important performances are analyzed to manifest that TWSBR is heavy coupling and two decoupling controller are designed to constitute a decoupling control system. Finally, state feed-back controller is designed on the basis of linear quadratic optimal control, to realize the balancing and motion control. Simulation and experiment results manifest the effectiveness and feasibility of the designed methods to deal with such under-actuated TWSBR system.Keywords
This publication has 7 references indexed in Scilit:
- Controller design for two-wheeled self-balancing vehicles using feedback linearisation techniqueInternational Journal of Vehicle Systems Modelling and Testing, 2013
- A Modular Fuzzy Control Approach for Two-Wheeled WheelchairJournal of Intelligent & Robotic Systems, 2011
- Adaptive Robust Self-Balancing and Steering of a Two-Wheeled Human Transportation VehicleJournal of Intelligent & Robotic Systems, 2010
- Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum SystemsIEEE Transactions on Robotics, 2010
- Adaptive Neural Network Control of a Self-Balancing Two-Wheeled ScooterIEEE Transactions on Industrial Electronics, 2010
- Velocity and position control of a wheeled inverted pendulum by partial feedback linearizationIEEE Transactions on Robotics, 2005
- JOE: a mobile, inverted pendulumIEEE Transactions on Industrial Electronics, 2002