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Balancing Control of a Two Wheeled Mobile Robot System  

Lee, Hyung-Jik (Mando)
Jung, Seul (Chungnam National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.48, no.6, 2011 , pp. 1-7 More about this Journal
Abstract
This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.
Keywords
Two wheeled mobile robot; Inverted pendulum; balancing control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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