Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique

Seok Kyoon Kim, Choon Ki Ahn, Ramesh K. Agarwal

    Research output: Contribution to journalArticlepeer-review

    5 Citations (Scopus)

    Abstract

    This article briefs on an advanced observer-based proportional-type control scheme that stabilizes the attitude and regulates the position of two-wheeled mobile balancing robots. The robot parameter and load uncertainties are under consideration. There are three main differences from previous results: (a) the development of coordinate transformation for securing the applicability of the proposed nonlinear controller design technique, (b) the pole-zero cancellation parameter-independent observers for estimating the wheel and yaw angular velocities, and (c) the guarantees of performance recovery and offset-free properties through the replacement of integrators via observer-based disturbance observers. The practical merits of the closed-loop analysis are confirmed by performing experiments with a LEGO Mindstorms EV3 operated by MATLAB/Simulink.

    Original languageEnglish
    Pages (from-to)11458-11468
    Number of pages11
    JournalIEEE Transactions on Vehicular Technology
    Volume70
    Issue number11
    DOIs
    Publication statusPublished - 2021 Nov 1

    Bibliographical note

    Funding Information:
    This work was supported in part by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2021R1C1C1004380, in part by Basic Science Research Program through the NRF funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea Government (Ministry of Science, and ICT) under Grant NRF-2020R1A2C1005449. The review of this article was coordinated by Prof. Rui Araújo.

    Publisher Copyright:
    © 2021 IEEE.

    Keywords

    • Attitude-stabilizing control
    • Coordinate transformation
    • Observer
    • Two-wheeled balancing robot
    • Velocity regulation

    ASJC Scopus subject areas

    • Automotive Engineering
    • Aerospace Engineering
    • Electrical and Electronic Engineering
    • Applied Mathematics

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