|Position and Angle Control for a Two-wheel Robot
Chih-Hui Chiu* and Ya-Fu Peng
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2343-2354, 2017
Abstract : "In this paper, a two-wheel robot (TWR) system is implemented based on a position and angle decoupled
intelligent backstepping control system. The decoupled method provides a simple method to achieve asymptotic
stability control for a fourth-order nonlinear TWR system using a second-order dynamics model. Moreover, adaptive
output recurrent cerebellar model articulation control (AORCMAC) is designed in this study to imitate an ideal
backstepping controller (IBC). Furthermore, to compensate for the difference between the two controllers mentioned,
a compensator is used. Based on the Lyapunov stability method, the stability of the closed-loop system can
be guaranteed. To train the AORCMAC effectively, the variable learning rates that guarantee the convergence of
the system are proposed. Finally, simulation and experimental results demonstrate the effectiveness of the proposed
control method for TWR control."
"Adaptive output recurrent cerebellar model articulation control, backstepping tracking control, compensated control, decoupled control, Lyapunov stability analysis, two-wheel robot system,."
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