Name
Title | ||
|---|---|---|
Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface |
Abstract | ||
|---|---|---|
This paper suggests a position-tracking algorithm for the outer-loop through the invariant dynamic surface approach for balancing robot applications. The main feature is to devise a dynamic surface representing the target position-tracking performance with variable cut-off frequency. The proposed controller makes the dynamic surface invariant while updating the closed-loop cut-off frequency accordingly with the self-tuner. The closed-loop properties are rigorously analyzed. The experimental verification result shows that the proposed controller establishes the 48% enhancement of the circular tracking performance in comparison with the feedback linearization method, where the LEGO Mindstorms EV3 is used. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/TSMC.2018.2882868 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
Keywords | DocType | Volume |
Performance recovery,position-tracking,robot balancing,self-tuner | Journal | 51 |
Issue | ISSN | Citations |
2 | 2168-2216 | 2 |
PageRank | References | Authors |
0.37 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Seok-Kyoon Kim | 1 | 25 | 10.53 |
| Choon Ki Ahn | 2 | 1218 | 81.53 |
| Ramesh K. Agarwal | 3 | 225 | 9.29 |