Title :
Robust Control Method Applied in Self-Balancing Two-Wheeled Robot
Author :
Yau, Her-Terng ; Wang, Cheng-Chi ; Pai, Neng-Sheng ; Jang, Ming-Jyi
Author_Institution :
Dept. of Electr. Eng., Nat. Chin-Yi Univ. of Technol., Taichung, Taiwan
fDate :
Nov. 30 2009-Dec. 1 2009
Abstract :
Since the beginning of the new millennium, the self-balancing two-wheeled robot (SBTWR) has become more and more popular due to its responsive yet precise movement and pollution-free. This paper is devoted to investigating both the dynamics analysis and the balance control for a SBTWR which is inherently unstable. In this dissertation, we present a robust control algorithm to stabilize the unstable SBTWR. By the Lyapunov stability theory with control term, a suitable sliding surface is proposed to ensure the stability of the controlled closed-loop system in sliding mode. Then, a sliding mode controller is designed to guarantee the hitting of the sliding surface even when the system contains system uncertainties and external disturbances. A computer simulation demonstrates the feasibility of the proposed control schemes.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; digital simulation; mechanical stability; mobile robots; robot dynamics; robust control; variable structure systems; Lyapunov stability theory; balance control; closed loop system; computer simulation; dynamics analysis; precise movement; robust control algorithm; self balancing two-wheeled robot; sliding mode controller; sliding surface; Computer simulation; Control systems; Lyapunov method; Pollution; Robots; Robust control; Sliding mode control; Stability; Surface contamination; Uncertainty; Lyapunov stability theory; balance control; robot; robust control;
Conference_Titel :
Knowledge Acquisition and Modeling, 2009. KAM '09. Second International Symposium on
Conference_Location :
Wuhan
Print_ISBN :
978-0-7695-3888-4
DOI :
10.1109/KAM.2009.234