DocumentCode
2614602
Title
The balance of flexible two-wheeled robot
Author
Ruan, Xiaogang ; Shizhen Li ; Li, Xinyuan ; Hou, Xuyang
Author_Institution
Coll. of Electron. Inf. & Control Eng., Beijing Univercity of Technol., Beijing, China
fYear
2011
fDate
27-29 June 2011
Firstpage
3662
Lastpage
3665
Abstract
The flexible two-wheeled balancing robot is a non-stable, non-linear, strong coupling system.A Kalman filter configuration combining a gyroscope and an inclinometer is implement to obtain an accurate estimate of the tilt angle and its derivate.This paper also presents nonlinear PID controller for the posture balancing control of FTWSBR, The experiment results demonstrate that the control method is effective for FTWSBR.
Keywords
Kalman filters; gyroscopes; mobile robots; nonlinear control systems; position control; three-term control; FTWSBR; Kalman filter; coupling system; flexible two-wheeled balancing robot; gyroscope; inclinometer; nonlinear PID controller; nonstable system; posture balancing control; tilt angle estimation; Analytical models; Couplings; Gyroscopes; Kalman filters; Maximum likelihood detection; Service robots; Kalman filter; flexible; nonlinear PID; two-wheeled robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Service System (CSSS), 2011 International Conference on
Conference_Location
Nanjing
Print_ISBN
978-1-4244-9762-1
Type
conf
DOI
10.1109/CSSS.2011.5974372
Filename
5974372
Link To Document