Title :
Comparison of two efficient control strategies for two-wheeled balancing robot
Author :
Michał Majczak;Paweł Wawrzyński
Author_Institution :
Institute of Control and Computation Engineering, Warsaw University of Technology, 00-665 Warsaw, Poland
Abstract :
The subject of this paper is a two-wheeled balancing robot with the center of mass above its wheels. Two control strategies for this robot are analyzed. The first one combines a kinematic model of the robot and a PI controller. The second one is a cascade of two PIDs. These strategies are compared experimentally.
Keywords :
"Mobile robots","Wheels","Control systems","Mathematical model","Angular velocity","Sensors"
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
DOI :
10.1109/MMAR.2015.7283968
