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

fYear

2013

fDate

Oct. 30 2013-Nov. 2 2013

Firstpage

486

Lastpage

487

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);

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4799-1195-0

Type

conf

DOI

10.1109/URAI.2013.6677319

Filename

6677319