This study 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: a simple proportional-type feedback controller and 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 article. 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.
|Journal||IEEE Transactions on Circuits and Systems II: Express Briefs|
|Publication status||Accepted/In press - 2018 Sep 11|
- Control systems
- Cutoff frequency
- Heuristic algorithms
- Mathematical model
- Mobile robots
- Performance-recovery property.
- Robot kinematics
- Self-tuning algorithm
- Tracking control
- Two-wheeled balancing robot
ASJC Scopus subject areas
- Electrical and Electronic Engineering