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http://dx.doi.org/10.5302/J.ICROS.2016.16.0123

Nonlinear Model-Based Disturbance Compensation for a Two-Wheeled Balancing Mobile Robot  

Yu, Jaerim (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Kim, Yongkuk (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Kwon, SangJoo (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.10, 2016 , pp. 826-832 More about this Journal
Abstract
A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.
Keywords
balancing robot; underactuated system; wheeled inverted pendulum; disturbance compensation;
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Times Cited By KSCI : 2  (Citation Analysis)
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