Dynamic model and balancing control for two-wheeled self-balancing mobile robot on the slopes - Details

Author：

Peng, Kui (Peng, Kui.) | Ruan, Xiaogang (Ruan, Xiaogang.) | Zuo, Guoyu (Zuo, Guoyu.) (Scholars：左国玉)

Indexed by：

EI Scopus

Abstract：

This　paper　studies　the　balance　control　of　two-wheeled　self-balancing　robot　on　the　slope.　The　dynamic　model　was　first　established　using　Lagrange　method,　which　was　proved　correct　by　the　simulation　results　of　its　zero-state　response　and　zero-input　response.　A　set　of　balance　equations　were　then　obtained　from　the　kinetic　model,　and　the　Lyapunov　method　was　carried　out　to　estimate　its　stability　and　controllability.　Finally,　the　robot＇s　linear　model　in　the　equilibrium　position　was　obtained.　The　linear　quadratic　optimal　regulator　was　designed　to　control　its　attitude　and　speed.　The　simulation　results　show　that　the　two-wheeled　self-balancing　robot　in　the　slope　situations　can　keep　balance　without　displacement.　©　2012　IEEE.

Keyword：

Mobile robots Lyapunov methods Quadratic programming Dynamic models Intelligent control Equations of motion Lagrange multipliers

Author Community：

[ 1 ] [Peng, Kui]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Ruan, Xiaogang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Zuo, Guoyu]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China