Nonlinear Control of a Two-Wheeled Self-balancing Autonomous Mobile Robot

Autor:	J. Díaz-Téllez, R. S. García-Ramirez, O. D. Ramírez-Cárdenas, V. Gutierrez-Vicente, Jaime Estevez-Carreón
Rok vydání:	2021
Předmět:	Equilibrium point Mechanical equilibrium Control theory law Property (programming) Computer science Robot Mobile robot Nonlinear control Power (physics) law.invention Inverted pendulum
Zdroj:	Advances in Soft Computing ISBN: 9783030898199 MICAI (2)
DOI:	10.1007/978-3-030-89820-5_28
Popis:	This paper presents the non-linear control of an inverted pendulum type two-wheel self-balancing robot. Unlike most of the works in the literature, we propose a robust orientation control without resorting to linearizations around the equilibrium points or assumptions of small angles. The control algorithm has the property of being lightweight for possible implementation in embedded systems with low processing power. To validate the design of the control law, three parameters have been taken into account: settlement time, angles away from equilibrium position and ability to reject external disturbances.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f5bb5309bd87cd1416473908204936c1 https://doi.org/10.1007/978-3-030-89820-5_28 Zobrazit plný text záznamu