The application of disturbance observer in two-wheeled mobile robot
Jun Zhou
Wei Wu
Bo Ding
Zong-yang Zhang
Coll. of Mech. & Electr. Eng., Hohai Univ., Jiangsu, China;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 1,
On page(s): 171- 174 vol.1
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8426330
Current Version Published: 2005-06-13
Abstract
Analyzing the motion features of two-wheeled mobile robot, the corresponding function is built and the disturbance observer is used in the control of robot. The control system of two-wheeled mobile robot adopts the disturbance observer, parameters of which are figured out by practicing feedback control theory. By simulation, it is showed that the system has better ability to restrain disturbances and improved motion capabilities.
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