Modeling and Quasi-Static Trajectory Control of a Self-Balancing Two-Wheeled Vehicle
نویسندگان
چکیده
منابع مشابه
Dynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing
Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
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For cars or trucks on the verge of roll-over, the boundary between stability and instability occurs when the vehicle balances on two wheels on the same side. In this work, the open-loop steering servo of an off-road type vehicle is used in a closed-loop balance control system that actuates the front steering angle so that the vehicle self-balances and drives on two wheels. A nonlinear vehicle m...
متن کاملTwo Wheeled Robot Self Balancing Control Research
According to movement balancing and position control problem of Self Balancing Two Wheeled Robot, a method based on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the MATLAB environment The simulation results shows that the robot can be balanced in fixed position well by this method, and also it have the ability to anti interference.
متن کاملdynamic modeling and construction of a new two-wheeled mobile manipulator: self-balancing and climbing
designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
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ژورنال
عنوان ژورنال: PAMM
سال: 2012
ISSN: 1617-7061
DOI: 10.1002/pamm.201210029