Position and speed control of a two-wheeled balance mobile robot

被引：1

作者：

Shih, Ching-Long ^{[1
]}

Wang, Jiun-Yaw ^{[1
]}

机构：

[1] Natl Taiwan Univ Sci & Technol, Dept Elect Engn, 43 Sect 4,Keelung Rd, Taipei 106, Taiwan

来源：

JOURNAL OF INFORMATION & OPTIMIZATION SCIENCES | 2007年 / 28卷 / 06期

关键词：

Two-wheeled balance mobile robot; state feedback; LQR; rate gyro; tilt sensor;

D O I：

10.1080/02522667.2007.10699784

中图分类号：

G25 [图书馆学、图书馆事业]; G35 [情报学、情报工作];

学科分类号：

1205 ; 120501 ;

摘要：

The inverted pendulum like control systems have been benchmark problems in demonstrating and motivating various control design technologies for not only teaching and research but also industrial applications. The purpose of this work is to design a balance and position/speed controller for a two-wheeled balance mobile robot to maintain the base in the up right position, and to track the wheel to a desired position. Experimental results show that the proposed state feedback position/ speed control laws are easy to implement in both hardware and software, and effective in performance.

引用

页码：985 / 996

页数：12

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