Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot
Joint Authors
Hadj Saïd, Salim
M’sahli, Faouzi
Jmel, Ines
Dimassi, Habib
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-29
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In this paper, an output feedback control approach based on an adaptive observer is developed for the two-wheeled self-balancing robot subject to unknown parameters (with nonlinear parameterization).
Firstly, a high gain control method with state feedback is proposed.
Then, an adaptive observer is designed to estimate the unknown state and the unknown body mass of the robot which influences the height of the center of mass.
Next, the adaptive observer is combined with the designed high gain controller: a Lyapunov-based stability analysis of the closed loop system is developed to establish the convergence of the tracking error as well as estimation and adaptation errors.
Simulation results assert the performance of the developed tracking control scheme for the two-wheeled self-balancing robot subject to mass variation.
American Psychological Association (APA)
Jmel, Ines& Dimassi, Habib& Hadj Saïd, Salim& M’sahli, Faouzi. 2020. Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1195722
Modern Language Association (MLA)
Jmel, Ines…[et al.]. Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot. Mathematical Problems in Engineering No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1195722
American Medical Association (AMA)
Jmel, Ines& Dimassi, Habib& Hadj Saïd, Salim& M’sahli, Faouzi. Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1195722
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195722