Control of an auto-balancing two-wheeled cart

Jia Sheng Hu; Mi-Ching Tsai

Control of an auto-balancing two-wheeled cart

Jia Sheng Hu, Mi-Ching Tsai

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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	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

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title = "Control of an auto-balancing two-wheeled cart",

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.",

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AB - 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.

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