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Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- Jun-2019
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Two-wheeled balancing robot; tracking control; self-tuning algorithm; performance-recovery property
- Citation
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.66, no.6, pp.1008 - 1012
- Indexed
- SCIE
SCOPUS
- Volume
- 66
- Number
- 6
- Start Page
- 1008
- End Page
- 1012
- ISSN
- 1549-7747
- 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.
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Related Researcher
- Ahn, Choon ki
- College of Engineering (School of Electrical Engineering)