Balancing and Trajectory Tracking Control for Two-Wheeled Self-Balancing Robot
Balancing and Trajectory Tracking Control for Two-Wheeled Self-Balancing Robot |
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| © 2024 by IJETT Journal | ||
| Volume-72 Issue-7 |
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| Year of Publication : 2024 | ||
| Author : Nguyen Cao Cuong, Hoang Dinh Co |
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| DOI : 10.14445/22315381/IJETT-V72I7P105 | ||
How to Cite?
Nguyen Cao Cuong, Hoang Dinh Co, "Balancing and Trajectory Tracking Control for Two-Wheeled Self-Balancing Robot," International Journal of Engineering Trends and Technology, vol. 72, no. 7, pp. 45-57, 2024. Crossref, https://doi.org/10.14445/22315381/IJETT-V72I7P105
Abstract
The Two-Wheeled Self-Balancing Robot (TWSBR) system is a system widely applied in automatic control experiments. This is a highly theoretical and practical Multi-Input and Multi-output (MIMO) system that has been applied in life. However, most of the research only revolves around balance control using trial-and-error search algorithms or simple mathematical equations. There are not many detailed studies on system mathematical equations and main application algorithms based on model understanding. This article presents a method to design and control a self-balancing two-wheeled robot. The main contents include the design of a robust adaptive controller based on the nominal model for TWSBR. The goal of the proposed controller is to stabilize the TWSBR body tilt angle and control the desired trajectory tracking for the robot. Simulation results show that the proposed controller has good quality and is robust to disturbances.
Keywords
Two-Wheeled Self-Balancing Robot, Adaptive controller, Robust controller, Trajectory tracking control, Robot.
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