Name
Abstract | ||
|---|---|---|
Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot's posture; three independent PID controllers are employed to achieve separate control tasks and then unified under a proposed global control scheme. Experiment results show that this robot could run at the speed of 2.2 m/s with rejecting disturbances. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090622 | ROBIO |
Keywords | Field | DocType |
low cpu-cost complementary filter,motion control,mobile robots,pose estimation,independent pid controllers,velocity control,lagrange equation,two-wheeled balancing path-following robot,robot posture estimation,three-term control,robot vision,accelerometers,mathematical model,educational robots,robot kinematics | Robot control,Social robot,Robot calibration,Control theory,Robot kinematics,Control engineering,Mobile robot navigation,Engineering,Cartesian coordinate robot,Mobile robot,Articulated robot | Conference |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jianlan Luo | 1 | 2 | 2.06 |
| Zhewen Tian | 2 | 0 | 0.34 |
| Jintao Yang | 3 | 0 | 0.34 |