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Tracking control of a balancing robot - A model-based approach

Sterowanie Śledzące Robota Zachowującego Równowagę Podejście Oparte Na Modelu
: Zaiczek, Tobias; Franke, Matthias

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Archive of Mechanical Engineering 61 (2014), Nr.2, S.331–346
ISSN: 2300-1895
ISSN: 2300-262X
Zeitschriftenaufsatz, Elektronische Publikation
Fraunhofer IIS ()

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 keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.