Publisher : Korean Institute of Intelligent Systems
DOI : 10.5391/JKIIS.2016.26.1.023
Title & Authors
Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot Cho, Sung Taek; Jung, Seul;
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.
Two-wheel mobile robot;Time-delayed controller;Balancing control;
F. Grasser, A. Darrigo, S. Colombi, and A. Rufer, "JOE: A mobile, inverted pendulum", IEEE Trans. on Industrial Electronics, Vol. 49, No. 1, pp. 107-114, 2002
H. J. Lee and S. Jung, "Development of two wheeled car-like mobile robot using balancing mechanism: BalBOT VII", Journal of Korean Robotics Society, vol. 4, no. 4, pp. 289-297, 2009
H. J. Lee and S. Jung, "Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors", Mechatronics, vol. 22, Iss. 1, pp. 95-105, 2012
K. Pathak, J. Franch, and S. Agrawal, "Velocity and position control of a wheeled inverted pendulum by partial feedback linearization", IEEE Trans. on Robotics, vol. 21, pp. 505-513, 2005
S. H. Jeong andT. Takayuki "Wheeled Inverted Pendulum Type Assistant Robot: Design Concept and Mobile Control", IEEE Conf. on Intelligent Robots and Systems, pp. 1932-1937, 2007
R. Imamura, T. Takei, and S. Yuta, "Sensor drift compensation and control of a wheeled inverted pendulum mobile robot", IEEE Workshop on Advanced Motion Control, pp. 137-142, 2008
S. S. Kim and S. Jung, "Control experiment of a wheel-driven mobile inverted pendulum using neural network", IEEE Trans. on Control Systems Technology, vol. 16, no. 2, pp. 297-303, 2008
C. C. Tsai, H. C. Huang, and S. C. Lin, "Adaptive neural network control of self-balancing two-wheeled scooter", IEEE Trans. on Industrial Electronics, vol. 57, no. 4, pp. 1420-1428, 2010
C. H. Huang, W. J. Wang, and C. H. Chiu, "Design and implementation of fuzzy control on a two-wheel inverted pendulum", IEEE Trans. on Industrial Electronics, vol. 58, no. 7, pp. 2988-3001, 2011
H. W. Kim and S. Jung, "Fuzzy Logic Application to a Two-wheel Mobile Robot for Balancing Control Performance", International Journal of Fuzzy Logic and Intelligent Systems, vol.12, no. 2, pp. 154-161, 2012
H. W. Kim, S. T. Cho, S. Jung, "Implementation and Balancing Control of a Robotic Vehicle for Entertainment," Journal of Institute of Control, Robotics and Systems, vol. 20, no. 7, pp. 736-740, 2014.
J. G. Lim and S. Jung, "Experimental Studies on Attitude Control of a Quad-rotor System Using a Time-delayed Controller", Journal of Institute of Control, Robotics and Systems, vol. 20, no. 4, pp. 1-8, 2014.
J. G. Lim and S. Jung, "Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method", Journal of Institute of Control, Robotics and Systems, vol. 20, no. 7, pp. 724-729, 2014.