Modeling and Quasi-Static Trajectory Control of a Self-Balancing Two-Wheeled Vehicle
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82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
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This paper deals with the kinematical and dynamical model as well as a quasi-static trajectory control of a self-balancing two-wheeled vehicle. This mobile robot is about 60cm tall, autonomous, unstable and driven by two wheels and therefore used for transport purposes. Due to the nonholonomic constraints only few modeling techniques are feasible. In this contribution the modeling is carried out with the Projection Equation, followed by the derivation of various control strategies.
A partial feedback linearization in combination with a LQR controller is applied to follow a desired velocity and stabilize the inclination angle of the robot. The quasi-static trajectory controller, which is based on the kinematical model, uses a flatness based approach in order to remain along the desired path. Continuous curvature paths, composed by clothoids, are used to demonstrate good performance results in simulation and experiment.