Robust posture tracking control of stable coaxial two-wheeled AGV using the approximate inverse system and LMI
VolumeJASETD Volume 4 Issue 1 2020
IssnISSN 2309-0936
AuthorsMinoru Sasaki*, Hideaki Tochigi, Waweru Njeri, Hiroyuki Hayashi, Joseph Muguro, Kojiro Matsushita and Harrison Ngetha
Article TypeResearch article
Article Section
First PublishedNovember 2020

Abstract

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.

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