B-2WMR System Model and Underactuated Property Analysis

摘要：

Balancing two-wheeled mobile robot is a kind of natural unstable underactuated system with high-rank unstable multi-variable strongly coupling complicated dynamic nonlinear property.We applied Euler-Lagrange method for establishing the MIMO nonlinear dynamic model based on the balancing two- wheeled mobile robot system,and employed this model to analyse the robots pose and states control.The direction of control method based on the underactuated system was discussed.We simulated the system model in the MatLab environment,and got the in-out responses.Thus,we provide a certain experimental platform for the design of the balancing controller.

关键词： Balancing Two-Wheeled Mobile Robot (B- 2WMR) Underactuated System Euler-Lagrange Equation Dynamic Model Balancing Control

作者: Xiaogang Ruan Jing Chen

作者单位: School of Electronic Information and Control Engineering Beijing University of Technology Beijing, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）