Robotics System Lecture 5-6: Stabilizing Two Wheel Robot

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Presentation transcript:

Robotics System Lecture 5-6: Stabilizing Two Wheel Robot By: Nur Uddin, Ph.D

Introduction: Two Wheels Robot (TWR) Two-wheeled robots (TWRs) are a statically-unstable nonlinear system.

Motivation An active stabilization using a states feedback control system is applied to stabilize the TWR. TWR operates on uncertain road profile. Adaptive control system is applied to stabilize the TWR to over- come the uncertain disturbance.

TWR Model and Free Body Diagram on Longitudinal Mode

TWR Dynamics Newton second law for moment: Define and rearrange the equation:

Model Reference Adaptive Control (MRAC)