제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.67.6-67
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- 2001
Nonlinear Attitude Control of a Two-Wheeled Mobile Robot
- Yang, Jl-Won (Ajou Univ.) ;
- Roh, Chi-Won (Ajou Univ.) ;
- Lee, Kwang-Won (Ajou Univ.)
- Published : 2001.10.01
Abstract
In this paper, we present an attitude control of self-standing for a two-wheeled inverted-pendulum-like mobile robot based on the nonlinear control theory. Nonlinear dynamic equations are linearized by using the Lie derivative, and a pole placement controller is designed. Characteristics of the controller are examined by numerical simulations to show the self-standing attitude of the mobile robot in standing and in moving.
Keywords