Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Seok-Kyoon | - |
dc.contributor.author | Ahn, Choon Ki | - |
dc.date.accessioned | 2021-09-01T14:34:25Z | - |
dc.date.available | 2021-09-01T14:34:25Z | - |
dc.date.created | 2021-06-19 | - |
dc.date.issued | 2019-06 | - |
dc.identifier.issn | 1549-7747 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/65245 | - |
dc.description.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. | - |
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 | INVERTED PENDULUM | - |
dc.subject | STABILIZATION | - |
dc.subject | DESIGN | - |
dc.title | Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Ahn, Choon Ki | - |
dc.identifier.doi | 10.1109/TCSII.2018.2869915 | - |
dc.identifier.scopusid | 2-s2.0-85053286608 | - |
dc.identifier.wosid | 000469913000025 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.66, no.6, pp.1008 - 1012 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | - |
dc.citation.title | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | - |
dc.citation.volume | 66 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1008 | - |
dc.citation.endPage | 1012 | - |
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.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.subject.keywordPlus | SLIDING-MODE CONTROL | - |
dc.subject.keywordPlus | UNDERACTUATED MECHANICAL SYSTEMS | - |
dc.subject.keywordPlus | INVERTED PENDULUM | - |
dc.subject.keywordPlus | STABILIZATION | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Two-wheeled balancing robot | - |
dc.subject.keywordAuthor | tracking control | - |
dc.subject.keywordAuthor | self-tuning algorithm | - |
dc.subject.keywordAuthor | performance-recovery property | - |
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