Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots

Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TCSII.2018.2869915

Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots

Seok Kyoon Kim, Choon Ki Ahn

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

9 Citations (Scopus)

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	https://doi.org/10.1109/TCSII.2018.2869915
Publication status	Published - 2019 Jun

Keywords

Two-wheeled balancing robot
performance-recovery property
self-tuning algorithm
tracking control

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/TCSII.2018.2869915

Cite this

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title = "Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots",

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.",

keywords = "Two-wheeled balancing robot, performance-recovery property, self-tuning algorithm, tracking control",

author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",

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: lotus45kr@gmail.com). Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",

year = "2019",

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doi = "10.1109/TCSII.2018.2869915",

language = "English",

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N1 - 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: lotus45kr@gmail.com). Publisher Copyright: © 2004-2012 IEEE.

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Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots

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