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
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
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