Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2015.07a
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- Pages.1339-1340
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- 2015
A low-complexity controller design for Segway
세그웨이를 위한 낮은 복잡도를 갖는 제어기의 설계
- Kim, Byung-Woo (Chosun University) ;
- Hwang, Sung-Jo (Chosun University) ;
- Park, Bong Seok (Chosun University)
- Published : 2015.07.15
Abstract
In this paper, we propose a low-complexity control scheme for segway. To design the controller, we use the prescribed performance function and analyze the stability of the proposed control system using the Lyapunov stability theorem. By prescribed performance function, we can adjust the transient and steady-state response. Finally, the simulation results are provided to illustrate the effectiveness of the proposed scheme.
Keywords