Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot
| Autor: | Seul Jung, Sung Taek Cho |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Wheel mobile robot business.industry 020208 electrical & electronic engineering PID controller Mobile robot 02 engineering and technology 020901 industrial engineering & automation Time delayed Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering business |
| Zdroj: | Journal of Korean Institute of Intelligent Systems. 26:23-29 |
| ISSN: | 1976-9172 |
| DOI: | 10.5391/jkiis.2016.26.1.023 |
| Popis: | This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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