Control of an auto-balancing two-wheeled cart

Jia Sheng Hu, Mi-Ching Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


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 languageEnglish
Title of host publicationSICE 2005 Annual Conference in Okayama - Proceedings
Number of pages5
Publication statusPublished - 2005
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10


OtherSICE Annual Conference 2005

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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