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http://dx.doi.org/10.5302/J.ICROS.2016.16.0008

Experimental Study and Design of a Disturbance Observer for Steering Stabilization of a One-wheeled Balancing Robot  

Lee, Sang-Deok (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.5, 2016 , pp. 353-360 More about this Journal
Abstract
In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.
Keywords
balancing control; DOB; model uncertainty; one-wheeled robot;
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