Robust posture tracking control of stable coaxial two-wheeled AGV using the approximate inverse system and LMI
|Volume||JASETD Volume 4 Issue 1 2020|
|Authors||Minoru Sasaki*, Hideaki Tochigi, Waweru Njeri, Hiroyuki Hayashi,
Joseph Muguro, Kojiro Matsushita and Harrison Ngetha
|Article Type||Research article|
|First Published||November 2020|
This paper describes the design of the posture controller for two-wheeled AGV. The objective is to improve the posture stability when running on ramps by balancing between vehicle body attitude angle and wheel angular velocity target value. The effectiveness of the controller by simulation and experiment was confirmed.