Abstract
This brief proposes an outer-loop control mechanism for two-wheeled mobile balancing robot position-tracking control system applications. The proposed outer-loop controller is comprised of two parts: 1) a simple proportional-type feedback controller and 2) the self-tuning algorithm. The cut-off frequency of closed-loop system is increased by the self-tuning algorithm to enhance the position-tracking performance in transient periods, which is the main contribution of this brief. Moreover, it is rigorously shown that the closed-loop system exponentially recovers the desired position-tracking performance. The closed-loop performance improvement is experimentally verified using the LEGO Mindstorms EV3 with MATLAB/Simulink software.
| Original language | English |
|---|---|
| Article number | 8463623 |
| Pages (from-to) | 1008-1012 |
| Number of pages | 5 |
| Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
| Volume | 66 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2019 Jun |
Bibliographical note
Funding Information:Manuscript received July 20, 2018; revised August 29, 2018; accepted September 7, 2018. Date of publication September 13, 2018; date of current version May 28, 2019. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This brief was recommended by Associate Editor C. W. Sham. (Corresponding author: Choon Ki Ahn.) S.-K. Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail: [email protected]).
Publisher Copyright:
© 2004-2012 IEEE.
Keywords
- Two-wheeled balancing robot
- performance-recovery property
- self-tuning algorithm
- tracking control
ASJC Scopus subject areas
- Electrical and Electronic Engineering