Development of an Autonomous Two-Wheeled Vehicle Robot

被引：0
|
作者：
Sasaki, Minoru [1 ]
Tanaka, Hidenobu [1 ]
Ito, Satoshi [1 ]
机构：
[1] Gifu Univ, Dept Human & Informat Syst Engn, Gifu 5011193, Japan
来源：
MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2 | 2012年 / 2-3卷
关键词：
two-wheeled vehicle robot; steering control; modeling; LQI control; system development; STEERING CONTROL; STABILITY;
D O I：
10.4028/www.scientific.net/AEF.2-3.390
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a development of an autonomous two-wheeled vehicle robot. The model of the two-wheeled vehicle using steering control is derived. The control systems are designed by linear quadratic regulator and linear quadratic integral method. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The experimental results and simulation results show stable running control of the two-wheeled vehicle robot and coincident with each other. The approach is validated through these results.
引用
收藏
页码：390 / 395
页数：6
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