• DocumentCode
    3663832
  • 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
  • fYear
    2015
  • Firstpage
    744
  • Lastpage
    749
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
  • Type

    conf

  • DOI
    10.1109/MMAR.2015.7283968
  • Filename
    7283968
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3663832