Nonlinear Control Design for a Two-wheeled Balancing Robot

被引：0
|
作者：
Kim, Sangtae [1 ]
Kwon, SangJoo [1 ]
机构：
[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, Goyang 412791, South Korea
来源：
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年
关键词：
two-wheeled balancing robot(2WBR); inverted pendulum robot; feedforward control; optimal control; PENDULUM;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.
引用
收藏
页码：486 / 487
页数：2
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