Nonlinear Control Design for a Two-wheeled Balancing Robot

被引：0
|
作者：
Kim, Sangtae [1 ]
Kwon, SangJoo [1 ]
机构：
[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, Goyang 412791, South Korea
来源：
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年
关键词：
two-wheeled balancing robot(2WBR); inverted pendulum robot; feedforward control; optimal control; PENDULUM;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.
引用
收藏
页码：486 / 487
页数：2
相关论文
共 50 条
  • [1] SDRE based nonlinear optimal control of a two-wheeled balancing robot
    Kim S.
    Kwon S.J.
    Journal of Institute of Control, Robotics and Systems, 2011, 17 (10) : 1037 - 1043
  • [2] H∞ Robust Control of Self-Balancing Two-Wheeled Robot
    Ruan, Xiaogang
    Chen, Jing
    2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 6524 - 6527
  • [3] Optimal control of a two-wheeled self-balancing robot by reinforcement learning
    Guo, Linyuan
    Rizvi, Syed Ali Asad
    Lin, Zongli
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2021, 31 (06) : 1885 - 1904
  • [4] Robust Control Method Applied in Self-Balancing Two-Wheeled Robot
    Yau, Her-Terng
    Wang, Cheng-Chi
    Pai, Neng-Sheng
    Jang, Ming-Jyi
    2009 SECOND INTERNATIONAL SYMPOSIUM ON KNOWLEDGE ACQUISITION AND MODELING: KAM 2009, VOL 1, 2009, : 268 - +
  • [5] Dynamic Modeling and Simulation of a Flexible Two-Wheeled Balancing Robot
    Ruan, Xiaogang
    Li, Xinyuan
    Xing, Xuetao
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS, 2008, 5314 : 1011 - 1020
  • [6] Development of a Two-Wheeled Mobile Tilting & Balancing (MTB) Robot
    Kim, Sangtae
    Seo, Jungmin
    Kwon, SangJoo
    2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2011, : 1 - 6
  • [7] Dynamic Modeling of a Two-wheeled Inverted Pendulum Balancing Mobile Robot
    Kim, Sangtae
    Kwon, SangJoo
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2015, 13 (04) : 926 - 933
  • [8] Design and Implementation of a PID Control System for a Coaxial Two-Wheeled Mobile Robot
    Oliveira e Silva, Felipe
    de Carvalho Ferreira, Luis Henrique
    2013 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2013,
  • [9] Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot
    Sangtae Kim
    SangJoo Kwon
    International Journal of Control, Automation and Systems, 2015, 13 : 926 - 933
  • [10] Design and experimental evaluation of robust controllers for a two-wheeled robot
    Kralev, J.
    Slavov, Ts.
    Petkov, P.
    INTERNATIONAL JOURNAL OF CONTROL, 2016, 89 (11) : 2201 - 2226
12345