Stability Control for Two-Wheeled Mobile Robot Using Robust Pole-Placement Method

Amano, Yoko

doi:10.1007/978-3-319-04573-3_32

Stability Control for Two-Wheeled Mobile Robot Using Robust Pole-Placement Method

Yoko Amano²⁹

Conference paper

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 293))

Abstract

In order to guarantee a robotic stability, a robust pole-placement method is proposed in this paper, the proposed method combines a linear quadratic regulator (LQR) into the pole-placement design. Firstly, a mathematical model of Two-Wheeled Mobile Robot (TWMR) is analytically derived from the real TWMR. Secondly, the LQR for the TWMR’s model is designed, and optimal poles can be obtained from the designed LQR. Thirdly, according to the following conditions in selecting best poles: (1) a convergence speed, (2) vibration times, (3) saturation evasion of control inputs to TWMR’s actuators, (4) the ratio of an imaginary part and a real part are carried out near one of selected poles. Ultimately, the robotic stability of the proposed method with the best poles is confirmed by experiment results.

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References

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Authors and Affiliations

Graduate School of Electrical and Electronics Engineering, Department of Electronics and Electrical Engineering, Nihon University, Tokyo, 963-8642, Japan
Yoko Amano

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Yoko Amano
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Correspondence to Yoko Amano .

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Editors and Affiliations

Department of Electrical and Computer Engineering, School of Engineering, Mercer University, Macon, GA, USA
Jengnan Juang
Department of Electrical Engineering, Cheng Shiu University, Kaohsiung, Taiwan
Cheng-Yi Chen
Department of Chemical and Materials Engineering, National University of Kaohsiung, Kaohsiung, Taiwan
Cheng-Fu Yang

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Amano, Y. (2014). Stability Control for Two-Wheeled Mobile Robot Using Robust Pole-Placement Method. In: Juang, J., Chen, CY., Yang, CF. (eds) Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems (ICITES2013). Lecture Notes in Electrical Engineering, vol 293. Springer, Cham. https://doi.org/10.1007/978-3-319-04573-3_32

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DOI: https://doi.org/10.1007/978-3-319-04573-3_32
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04572-6
Online ISBN: 978-3-319-04573-3
eBook Packages: EngineeringEngineering (R0)

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