Two-wheeled Self-balancing Robot Modeling and Nonlinear Control
文献类型：会议论文
| 作者 | Jinfeng Qiu; Zhicheng Hou; Weijun Wang; Gong Zhang; Yafeng Li; Wei Feng; Han Changsoo |
| 出版日期 | 2017 |
| 会议日期 | 2017 |
| 会议地点 | South Korea |
| 英文摘要 | This paper aims at modeling and nonlinear control of two-wheeled self-balancing robots based on gyroscope effect. An MIMO nonlinear dynamic mode is presented by using Euler-Lagrange method and Maple software to describe the self-balancing robot. Then a dual input-output sliding mode controller is designed to analyze the nonlinear system, and a simulation experiment is achieved with MATLAB/SIMULINK. The simulation results show that the designed controller is able to stabilize nonlinear system around equilibrium with great initial roll angle up to 45° with the case of no steering control and steering control, steering control have effect on balance of the robot. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11549]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Jinfeng Qiu,Zhicheng Hou,Weijun Wang,et al. Two-wheeled Self-balancing Robot Modeling and Nonlinear Control[C]. 见:. South Korea. 2017. |
入库方式： OAI收割
来源：深圳先进技术研究院
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