Observer-Based Proportional-Type Controller for Two-Wheeled Mobile Robots via Simple Coordinate Transformation Technique

Seok Kyoon Kim, Choon Ki Ahn, Ramesh K. Agarwal

Research output: Contribution to journalArticlepeer-review

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.

Original languageEnglish
Pages (from-to)11458-11468
Number of pages11
JournalIEEE Transactions on Vehicular Technology
Volume70
Issue number11
DOIs
Publication statusPublished - 2021 Nov 1

Keywords

  • Attitude-stabilizing control
  • Coordinate transformation
  • Observer
  • Two-wheeled balancing robot
  • Velocity regulation

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics

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