Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface
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 | 2021-08-30T03:57:15Z | - |
dc.date.available | 2021-08-30T03:57:15Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2021-02 | - |
dc.identifier.issn | 2168-2216 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/50039 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/TSMC.2018.2882868 | - |
dc.identifier.scopusid | 2-s2.0-85058143178 | - |
dc.identifier.wosid | 000608693000004 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v.51, no.2, pp.705 - 711 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | - |
dc.citation.title | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | - |
dc.citation.volume | 51 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 705 | - |
dc.citation.endPage | 711 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Cybernetics | - |
dc.subject.keywordAuthor | Performance recovery | - |
dc.subject.keywordAuthor | position-tracking | - |
dc.subject.keywordAuthor | robot balancing | - |
dc.subject.keywordAuthor | self-tuner | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.