Tracking Control of A Balancing Robot – A Model-Based Approach
This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2014-08-01
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| Series: | Archive of Mechanical Engineering |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/meceng.2014.61.issue-2/meceng-2014-0019/meceng-2014-0019.xml?format=INT |