Title :
Research of Trajectory Tracking Control of Two-Wheeled Self-Balance Robot
Author :
Qin, Yong ; Zang, Xizhe ; Liu, Yubin ; Zhao, Jie ; Wang, Xiaoyu ; Cai, Hegao
Author_Institution :
Robotics Inst., Harbin Inst. of Technol.
Abstract :
Wheeled mobile robot is one of the well-know nonholonomic system. Uncertainty of the robot influences the robotic performance of tracking control. A two-wheeled self-balance robot is taken as the research objective. Using the control Lyapunov function (CLF), the system stability has been proven. Through the data fusion of output information of accelerometer, odometric and gyroscope, its disturbance was decreased in the course of the tracking control and the real-time control characteristics were enhanced. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled through the data fusion of sensor information. There was good effect in the actual experiments
Keywords :
Lyapunov methods; accelerometers; distance measurement; gyroscopes; mobile robots; nonlinear control systems; position control; sensor fusion; stability; uncertain systems; accelerometer; control Lyapunov function; gyroscope; nonholonomic system; odometer; real-time control; robot uncertainty; sensor data fusion; system stability; trajectory tracking control; two-wheeled self-balance robot; wheeled mobile robot; Accelerometers; Control systems; Gyroscopes; Lyapunov method; Mobile robots; Sensor fusion; Sensor phenomena and characterization; Stability; Trajectory; Uncertainty; accelerometer; trajectory tracking; wheeled mobile robot;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713730
