Naslov
Decoupled Control and Path Tracking of a Two-wheeled Self-balancing Mobile Robot

Autori
Brkić, Kristijan ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE 2009) / Lee, Jang-Myung ; Yu, Xinghuo - Seoul : Institute of Electrical and Electronics Engineers (IEEE), 2009, 642-647

ISBN
978-1-4244-4349-9

Skup
IEEE International Symposium on Industrial Electronics (ISIE 2009)

Mjesto i datum
Seoul, Republika Koreja, 05.07.2009. - 08.07.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robots; balance control; decoupled control; two-wheeled robot

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA