Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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SDRE Based Nonlinear Optimal Control of a Two-Wheeled Balancing Robot

SDRE 기법을 이용한 이륜 밸런싱 로봇의 비선형 최적제어

  • 김상태 (한국항공대학교 항공우주기계공학부) ;
  • 권상주 (한국항공대학교 항공우주기계공학부)
  • Received : 2011.01.26
  • Accepted : 2011.07.04
  • Published : 2011.10.01
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Abstract

Two-wheeled balancing mobile robots are currently controlled in terms of linear control methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and greatly influence the overall driving performance. This paper addresses the SDRE nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the SDRE control outperforms LQR in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the SDRE control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly contributes to the driving performance and stability.

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