Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Seok-Kyoon | - |
dc.contributor.author | Ahn, Choon Ki | - |
dc.contributor.author | Agarwal, Ramesh K. | - |
dc.date.accessioned | 2022-02-16T06:42:28Z | - |
dc.date.available | 2022-02-16T06:42:28Z | - |
dc.date.created | 2022-01-19 | - |
dc.date.issued | 2021-11 | - |
dc.identifier.issn | 0018-9545 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/135953 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | SLIDING-MODE CONTROL | - |
dc.subject | UNDERACTUATED MECHANICAL SYSTEMS | - |
dc.subject | POSITION-TRACKING CONTROLLER | - |
dc.subject | DISTURBANCE OBSERVER | - |
dc.subject | INVERTED PENDULUM | - |
dc.subject | STABILIZATION | - |
dc.subject | VEHICLE | - |
dc.title | Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/TVT.2021.3116296 | - |
dc.identifier.scopusid | 2-s2.0-85116941089 | - |
dc.identifier.wosid | 000720520400029 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, v.70, no.11, pp.11458 - 11468 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | - |
dc.citation.title | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | - |
dc.citation.volume | 70 | - |
dc.citation.number | 11 | - |
dc.citation.startPage | 11458 | - |
dc.citation.endPage | 11468 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Telecommunications | - |
dc.relation.journalResearchArea | Transportation | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Telecommunications | - |
dc.relation.journalWebOfScienceCategory | Transportation Science & Technology | - |
dc.subject.keywordPlus | DISTURBANCE OBSERVER | - |
dc.subject.keywordPlus | INVERTED PENDULUM | - |
dc.subject.keywordPlus | POSITION-TRACKING CONTROLLER | - |
dc.subject.keywordPlus | SLIDING-MODE CONTROL | - |
dc.subject.keywordPlus | STABILIZATION | - |
dc.subject.keywordPlus | UNDERACTUATED MECHANICAL SYSTEMS | - |
dc.subject.keywordPlus | VEHICLE | - |
dc.subject.keywordAuthor | Angular velocity | - |
dc.subject.keywordAuthor | Attitude-stabilizing control | - |
dc.subject.keywordAuthor | Coordinate transformation | - |
dc.subject.keywordAuthor | Dynamics | - |
dc.subject.keywordAuthor | Mathematical models | - |
dc.subject.keywordAuthor | Mobile robots | - |
dc.subject.keywordAuthor | Observer | - |
dc.subject.keywordAuthor | Regulation | - |
dc.subject.keywordAuthor | Robot kinematics | - |
dc.subject.keywordAuthor | Two-wheeled balancing robot | - |
dc.subject.keywordAuthor | Velocity regulation | - |
dc.subject.keywordAuthor | Wheels | - |
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