Title :
The balance of flexible two-wheeled robot
Author :
Ruan, Xiaogang ; Shizhen Li ; Li, Xinyuan ; Hou, Xuyang
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univercity of Technol., Beijing, China
Abstract :
The flexible two-wheeled balancing robot is a non-stable, non-linear, strong coupling system.A Kalman filter configuration combining a gyroscope and an inclinometer is implement to obtain an accurate estimate of the tilt angle and its derivate.This paper also presents nonlinear PID controller for the posture balancing control of FTWSBR, The experiment results demonstrate that the control method is effective for FTWSBR.
Keywords :
Kalman filters; gyroscopes; mobile robots; nonlinear control systems; position control; three-term control; FTWSBR; Kalman filter; coupling system; flexible two-wheeled balancing robot; gyroscope; inclinometer; nonlinear PID controller; nonstable system; posture balancing control; tilt angle estimation; Analytical models; Couplings; Gyroscopes; Kalman filters; Maximum likelihood detection; Service robots; Kalman filter; flexible; nonlinear PID; two-wheeled robot;
Conference_Titel :
Computer Science and Service System (CSSS), 2011 International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-9762-1
DOI :
10.1109/CSSS.2011.5974372
