Abstract
Two-wheeled self-balancing cart is a robot model which is popular in control engineering. This is a classical MIMO under-actuated system. Balancing control problem is examined in many types of research. However, trajectory tracking problem for this model is new and it is an open research direction. In this paper, authors propose a method of PID-sliding mode control for balancing and number-8 trajectory tracking for this model. This method is proved to work well in both simulation and experiment.
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Vo, A.K., Nguyen, H.T., Nguyen, V.D.H., Nguyen, M.T., Le, T.T.H. (2020). Trajectory Tracking Pid-Sliding Mode Control for Two-Wheeled Self-Balancing Robot. In: Solanki, V., Hoang, M., Lu, Z., Pattnaik, P. (eds) Intelligent Computing in Engineering. Advances in Intelligent Systems and Computing, vol 1125. Springer, Singapore. https://doi.org/10.1007/978-981-15-2780-7_94
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DOI: https://doi.org/10.1007/978-981-15-2780-7_94
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