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Robust Control Design for a Two-Wheeled Inverted Pendulum Mobile Robot
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 Title & Authors
Robust Control Design for a Two-Wheeled Inverted Pendulum Mobile Robot
Yoo, Dong Sang;
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 Abstract
The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks` Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.
 Keywords
Inverted Pendulum;Two-Wheeled Mobile Robot;Sliding Mode Control;LQR theory;Simulink Model;
 Language
Korean
 Cited by
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