Title :
Nonlinear control design for a two-wheeled balancing robot
Author :
Sangtae Kim ; SangJoo Kwon
Author_Institution :
Sch. of Aerosp. & Mech. Eng., Korea Aerosp. Univ., Goyang, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.
Keywords :
control system synthesis; feedforward; mobile robots; nonlinear control systems; nonlinear dynamical systems; optimal control; state feedback; trajectory control; wheels; SDRE nonlinear optimal control; boundary conditions; feedforward controller; final state; initial state; nonlinear control design; nonlinear control inputs; nonlinear dynamic model; posture control; state feedback controller; two-wheeled balancing robot; well-planned trajectory; feedforward control; inverted pendulum robot; optimal control; two-wheeled balancing robot(2WBR);
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677319
