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Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot
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 Title & Authors
Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot
Cho, Sung Taek; Jung, Seul;
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 Abstract
This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically.
 Keywords
Two-wheel mobile robot;Time-delayed controller;Balancing control;
 Language
Korean
 Cited by
 References
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