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2017 | OriginalPaper | Chapter

Improving Control Quality for Two-Wheeled Mobile Robot

Authors : Gia Thi Dinh, Nguyen Duy Cuong, Nguyen Dang Hao

Published in: Advances in Information and Communication Technology

Publisher: Springer International Publishing

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Abstract

An approach for improving quality of motion control and stabilizing for two-wheeled mobile robot which is affected by internal and external distubances is presented in this paper. An output feedback controller using backstepping combined with high gain observer (HGOs) technique is designed. The decoupling technique for coupling system of two-wheeled mobile robot is also applied. Results of simulation show the effectiveness of the designed controller.

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Metadata
Title
Improving Control Quality for Two-Wheeled Mobile Robot
Authors
Gia Thi Dinh
Nguyen Duy Cuong
Nguyen Dang Hao
Copyright Year
2017
Book
Advances in Information and Communication Technology

Print ISBN: 978-3-319-49072-4

Electronic ISBN: 978-3-319-49073-1

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-49073-1_30

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