Dynamic Model and Balancing Control for Two-Wheeled Self-Balancing Mobile Robot on the Slopes

被引：0
|
作者：
Peng, Kui [1 ]
Ruan, Xiaogang [1 ]
Zuo, Guoyu [1 ]
机构：
[1] Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100124, Peoples R China
来源：
PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年
基金：
中国国家自然科学基金;
关键词：
two-wheeled self-balancing mobile robot; slope environment; Lagrange equation; optimal regulator; WHEELED INVERTED-PENDULUM; VELOCITY;
D O I：
暂无
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 studies the balance control of two-wheeled self-balancing robot on the slope. The dynamic model was first established using Lagrange method, which was proved correct by the simulation results of its zero-state response and zero-input response. A set of balance equations were then obtained from the kinetic model, and the Lyapunov method was carried out to estimate its stability and controllability. Finally, the robot's linear model in the equilibrium position was obtained. The linear quadratic optimal regulator was designed to control its attitude and speed. The simulation results show that the two-wheeled self-balancing robot in the slope situations can keep balance without displacement.
引用
收藏
页码：3681 / 3685
页数：5
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