Tracking control of a balancing robot – a model-based approach
Journal Title: Archive of Mechanical Engineering - Year 2014, Vol 0, Issue 2
Abstract
This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel’s equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.
Authors and Affiliations
Matthias Franke, Tobias Zaiczek
Keywords
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- EP ID EP167660
- DOI 10.2478/meceng-2014-0019
- Views 103
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