The development of a multi-loop control structure for a two-wheeled inverted pendulum robot
Journal
2019 6th International Conference on Control, Decision and Information Technologies
Pages
551-556
Date Issued
2019
Author(s)
Wang, Z.-J.
Abstract
This paper proposes a multi-loop control structure for a two-wheeled inverted pendulum robot. In this paper, we first derive the robot model and design a robust loop-shaping controller for the balancing control of the robot. The designed controller is implemented and the results show that the robot can be balanced but might randomly moves because of model variation and disturbances. Therefore, we propose a multi-loop control structure: the velocity loop to adjust the balancing point according to the operating conditions so that the robot can be steadily balanced, and the position loop to achieve position tracking. The effectiveness of the designed control strategies are confirmed by both simulation and experiments.
Type
conference paper