H∞ Robust Control of Self-Balancing Two-Wheeled Robot

被引：0

作者：

Ruan, Xiaogang ^{[1
]}

Chen, Jing ^{[1
]}

机构：

[1] Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

Self-Balancing Two-Wheeled Robot; balancing control; robust control; MIMO nonlinear system; PENDULUM; MOBILE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

According to movement balancing and position control problem of Self-Balancing Two-Wheeled Robot, a method based on H infinity Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the MATLAB environment The simulation results shows that the robot can be balanced in fixed position well by this method, and also it have the ability to anti interference.

引用

页码：6524 / 6527

页数：4

共 6 条

[1]

Blankespoor A, 2004, P AMER CONTR CONF, P488

[2] JOE: A mobile, inverted pendulum [J].

Grasser, F ;

D'Arrigo, A ;

Colombi, S ;

Rufer, AC .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2002, 49 (01) :107-114

[3] Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot [J].

Ha, YS ;

Yuta, S .

ROBOTICS AND AUTONOMOUS SYSTEMS, 1996, 17 (1-2) :65-80

[4] Velocity and position control of a wheeled inverted pendulum by partial feedback linearization [J].

Pathak, K ;

Franch, J ;

Agrawal, SK .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (03) :505-513

[5]

Salerno A, 2003, IEEE INT CONF ROBOT, P3379

[6]

XIE MJ, NONLINEAR H STATE FE

← 1 →