Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to bal...

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Bibliographic Details
Main Authors: Fu-Cheng Wang, Yu-Hong Chen, Zih-Jia Wang, Chi-Hao Liu, Pei-Chun Lin, Jia-Yush Yen
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Machines
Subjects:
multi-loop control
robust control
decouple
inverted pendulum
TWIP
Online Access:https://www.mdpi.com/2075-1702/9/10/205

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