Decoupled Control and Path Tracking of a Two-wheeled Self-balancing Mobile Robot (CROSBI ID 553820)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Brkić, Kristijan ; Kovačić, Zdenko
engleski
Decoupled Control and Path Tracking of a Two-wheeled Self-balancing Mobile Robot
The paper deals with problems of effective control and path tracking of a two-wheeled self-balancing mobile robot (SMR). A mathematical model of SMR is derived and decoupling multi-variable control with respect to the robot linear velocity, steering angle, and vertical balance is described. The path tracking performance of the decoupled SMR controller was tested on the paths that are demanding from the steering point of view. The paths are planned by using a pure pursuit algorithm. Simulation results have shown that the proposed control method provides very good path tracking with the balance error kept within very small boundaries.
mobile robots; balance control; decoupled control; two-wheeled robot
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Podaci o prilogu
642-647.
2009.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE 2009)
Lee, Jang-Myung ; Yu, Xinghuo
Seoul: Institute of Electrical and Electronics Engineers (IEEE)
978-1-4244-4349-9
Podaci o skupu
IEEE International Symposium on Industrial Electronics (ISIE 2009)
predavanje
05.07.2009-08.07.2009
Seoul, Republika Koreja