DocumentCode
3323376
Title
The application of disturbance observer in two-wheeled mobile robot
Author
Zhou, Jun ; Wu, Wei ; Ding, Bo ; Zhang, Zhon-Yang
Author_Institution
Coll. of Mech. & Electr. Eng., Hohai Univ., Jiangsu, China
Volume
1
fYear
2004
fDate
1-3 Dec. 2004
Firstpage
171
Abstract
Analyzing the motion features of two-wheeled mobile robot, the corresponding function is built and the disturbance observer is used in the control of robot. The control system of two-wheeled mobile robot adopts the disturbance observer, parameters of which are figured out by practicing feedback control theory. By simulation, it is showed that the system has better ability to restrain disturbances and improved motion capabilities.
Keywords
feedback; mobile robots; motion control; observers; disturbance observer; feedback control theory; two-wheeled mobile robot; Control systems; Educational institutions; Feedback control; Mathematical model; Mobile robots; Motion analysis; Motion control; Robot control; Robot kinematics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN
0-7803-8645-0
Type
conf
DOI
10.1109/RAMECH.2004.1438911
Filename
1438911
Link To Document