A low-complexity controller design for Segway

세그웨이를 위한 낮은 복잡도를 갖는 제어기의 설계

  • 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