DocumentCode :
668227
Title :
Real-time control to hold upright equilibrium of a two-wheeled auto-balancing vehicle
Author :
Casarrubias Guerrero, Gabriel ; Rincon Pasaye, J. Juan
Author_Institution :
Fac. de Ing. Electr., Univ. Michoacana de San Nicolas de Hidalgo, Morelia, Mexico
fYear :
2013
fDate :
13-15 Nov. 2013
Firstpage :
1
Lastpage :
5
Abstract :
In this document, a two-wheeled auto-balancing vehicle prototype is described, the upright balancing control of this inverted-pendulum-type vehicle is tackled by a classical control scheme in real time. Even though the system is nonlinear, unstable and under-actuated which implies a difficult control problem, a classical PID strategy together with a dead-zone and an anti windup compensation is used to get acceptable results. The upright balancing is the most fundamental control for the two-wheeled inverted pendulum because no other control is possible without stable upright balancing. This document shows the electromechanical prototype structure and its controller for keeping the upright equilibrium.
Keywords :
mobile robots; nonlinear control systems; pendulums; position control; stability; three-term control; antiwindup compensation; classical PID strategy; classical control scheme; dead-zone compensation; electromechanical prototype structure; inverted-pendulum-type vehicle; nonlinear system; real-time control; two-wheeled auto-balancing vehicle prototype; two-wheeled autobalancing vehicle; two-wheeled inverted pendulum; underactuated system; unstable system; upright balancing control; upright equilibrium holding; upright equilibrium keeping; Equations; Mathematical model; Microcontrollers; Prototypes; Real-time systems; Vehicles; Wheels; Two-wheeled auto-balancing vehicle; control systems; inverted pendulum; non linear systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Power, Electronics and Computing (ROPEC), 2013 IEEE International Autumn Meeting on
Conference_Location :
Mexico City
Type :
conf
DOI :
10.1109/ROPEC.2013.6702735
Filename :
6702735
Link To Document :
بازگشت