Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface

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

doi:10.1109/TSMC.2018.2882868

Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

Abstract

This paper suggests a position-tracking algorithm for the outer-loop through the invariant dynamic surface approach for balancing robot applications. The main feature is to devise a dynamic surface representing the target position-tracking performance with variable cut-off frequency. The proposed controller makes the dynamic surface invariant while updating the closed-loop cut-off frequency accordingly with the self-tuner. The closed-loop properties are rigorously analyzed. The experimental verification result shows that the proposed controller establishes the 48% enhancement of the circular tracking performance in comparison with the feedback linearization method, where the LEGO Mindstorms EV3 is used.

Original language	English
Article number	8567957
Pages (from-to)	705-711
Number of pages	7
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	51
Issue number	2
DOIs	https://doi.org/10.1109/TSMC.2018.2882868
Publication status	Published - 2021 Feb

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Keywords

Performance recovery
position-tracking
robot balancing
self-tuner

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMC.2018.2882868

Cite this

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title = "Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface",

abstract = "This paper suggests a position-tracking algorithm for the outer-loop through the invariant dynamic surface approach for balancing robot applications. The main feature is to devise a dynamic surface representing the target position-tracking performance with variable cut-off frequency. The proposed controller makes the dynamic surface invariant while updating the closed-loop cut-off frequency accordingly with the self-tuner. The closed-loop properties are rigorously analyzed. The experimental verification result shows that the proposed controller establishes the 48\% enhancement of the circular tracking performance in comparison with the feedback linearization method, where the LEGO Mindstorms EV3 is used.",

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AB - This paper suggests a position-tracking algorithm for the outer-loop through the invariant dynamic surface approach for balancing robot applications. The main feature is to devise a dynamic surface representing the target position-tracking performance with variable cut-off frequency. The proposed controller makes the dynamic surface invariant while updating the closed-loop cut-off frequency accordingly with the self-tuner. The closed-loop properties are rigorously analyzed. The experimental verification result shows that the proposed controller establishes the 48% enhancement of the circular tracking performance in comparison with the feedback linearization method, where the LEGO Mindstorms EV3 is used.

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ER -

Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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