High gain controller with state feedback for two wheeled self-balancing robot

被引：0
|
作者：
Jmel, Ines [1 ]
Dimassi, Habib [1 ]
Hadj-Said, Salim [1 ]
Msahli, Faouzi [1 ]
机构：
[1] Univ Monastir, Ecole Natl Ingenieurs Monastir, LA2SE, Monastir, Tunisia
来源：
2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA) | 2019年
关键词：
High gain control; state feedback; tracking control; self balancing robot; OBSERVER; MOBILE;
D O I：
10.1109/sta.2019.8717294
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a high gain control method with state feedback is developed for the two wheeled self balancing robot. The designed controller ensures the trajectories tracking as well as the maintaining of the upright position. Then a filtering action is integrated to the control method in order to compensate the step-level disturbances. Simulation results assert the performance of the proposed controller applied on the two wheeled self balancing robot.
引用
收藏
页码：146 / 151
页数：6
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