Abstract
This paper investigates robust auto-balancing control of a two-wheeled cart. The H∞ loop shaping technique was utilized to construct a robust controller for both balancing control and position control. A two-degree-of-freedom control scheme was proposed on controlling the auto-balancing two-wheeled cart without using velocity information. This control approach combines both the observer-based control scheme and an industrial servo drive scheme. Some simulations are given to show the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | SICE 2005 Annual Conference in Okayama - Proceedings |
| Pages | 2584-2588 |
| Number of pages | 5 |
| Publication status | Published - 2005 |
| Event | SICE Annual Conference 2005 - Okayama, Japan Duration: 2005 Aug 8 → 2005 Aug 10 |
Other
| Other | SICE Annual Conference 2005 |
|---|---|
| Country/Territory | Japan |
| City | Okayama |
| Period | 05-08-08 → 05-08-10 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering