Title :
H∞ robust control of Self-Balancing Two-Wheeled Robot
Author :
Ruan, Xiaogang ; Chen, Jing
Author_Institution :
Sch. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
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.
Keywords :
H∞ control; MIMO systems; mobile robots; nonlinear control systems; position control; robust control; wheels; H∞ robust control; MIMO nonlinear model; Matlab environment; movement balancing; position control; self-balancing two-wheeled robot; Mathematical model; Mobile robots; Robot kinematics; Robust control; Symmetric matrices; Wheels; MIMO nonlinear system; Self-Balancing Two-Wheeled Robot; balancing control; robust control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554171
