Hybrid Control of a Two-Wheeled Automatic-Balancing Robot with Backlash Feature

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Abstract

This paper investigates the application of hybrid control for an automatic balancing robot system subject to backlash effect. The developed controller is a type of sliding mode controller, refereed to as a switching controller, with respect to different situations i.e., whether the backlash is present in the system operation or not. The switching controller is further weighted by a tilt angle dependent weighting function, in order to enforce the linear controller at higher angles. The proposed solution is implemented and tested on a custom developed robot platform. The extensive tests and comparisons with other solutions show the proposed solution can lead to a very satisfactory anti-backlash performance, with an easy and cost-effective implementation.
OriginalsprogEngelsk
TitelProceedings of the 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) : SSRR
Antal sider6
UdgivelsesstedLinkoping
ForlagIEEE Press
Publikationsdato26 okt. 2013
Sider1-6
ISBN (Trykt)978-1-4799-0879-0
ISBN (Elektronisk)978-1-4799-0880-6
DOI
StatusUdgivet - 26 okt. 2013
Begivenhed11th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 - Linköping, Sverige
Varighed: 21 okt. 201326 okt. 2013

Konference

Konference11th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
Land/OmrådeSverige
ByLinköping
Periode21/10/201326/10/2013

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