Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki; Agarwal, Ramesh K.
- Issue Date
- 2월-2021
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Performance recovery; position-tracking; robot balancing; self-tuner
- Citation
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v.51, no.2, pp.705 - 711
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
- Volume
- 51
- Number
- 2
- Start Page
- 705
- End Page
- 711
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/50039
- DOI
- 10.1109/TSMC.2018.2882868
- ISSN
- 2168-2216
- 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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Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
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