Title :
The application of disturbance observer in two-wheeled mobile robot
Author :
Zhou, Jun ; Wu, Wei ; Ding, Bo ; Zhang, Zhon-Yang
Author_Institution :
Coll. of Mech. & Electr. Eng., Hohai Univ., Jiangsu, China
Abstract :
Analyzing the motion features of two-wheeled mobile robot, the corresponding function is built and the disturbance observer is used in the control of robot. The control system of two-wheeled mobile robot adopts the disturbance observer, parameters of which are figured out by practicing feedback control theory. By simulation, it is showed that the system has better ability to restrain disturbances and improved motion capabilities.
Keywords :
feedback; mobile robots; motion control; observers; disturbance observer; feedback control theory; two-wheeled mobile robot; Control systems; Educational institutions; Feedback control; Mathematical model; Mobile robots; Motion analysis; Motion control; Robot control; Robot kinematics; Wheels;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438911
