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Experimental Study and Design of a Disturbance Observer for Steering Stabilization of a One-wheeled Balancing Robot
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 Title & Authors
Experimental Study and Design of a Disturbance Observer for Steering Stabilization of a One-wheeled Balancing Robot
Lee, Sang-Deok; Jung, Seul;
 
 Abstract
In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.
 Keywords
balancing control;DOB;model uncertainty;one-wheeled robot;
 Language
Korean
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