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

이륜 밸런싱 로봇에 대한 비선형 모델 기반 외란보상 기법

  • 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)
  • 유재림 (한국항공대학교 항공우주 및 기계공학과) ;
  • 김용국 (한국항공대학교 항공우주 및 기계공학과) ;
  • 권상주 (한국항공대학교 항공우주 및 기계공학과)
  • Received : 2016.05.31
  • Accepted : 2016.09.01
  • Published : 2016.10.01


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.


Supported by : 한국연구재단


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