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 |
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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 |
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Country | 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