Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot
نویسندگان
چکیده
منابع مشابه
Two Wheeled Robot Self Balancing Control Research
According to movement balancing and position control problem of Self Balancing Two Wheeled Robot, a method based on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the MATLAB environment The simulation results shows that the robot can be balanced in fixed position well by this method, and also it have the ability to anti interference.
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designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
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ژورنال
عنوان ژورنال: Complexity
سال: 2019
ISSN: 1076-2787,1099-0526
DOI: 10.1155/2019/5705126