TY - GEN
T1 - Development of a coaxial self-balancing robot based on sliding mode control
AU - Dai, Fuquan
AU - Li, Fangxing
AU - Bai, Yang
AU - Guo, Wenzeng
AU - Zong, Chengguo
AU - Gao, Xueshan
PY - 2012
Y1 - 2012
N2 - A low cost coaxial self-balancing robot is proposed in this paper, the two wheels of which are placed coaxially for turning with zero-radius. Low cost MEMS accelerometer and gyro are selected to measure the posture information of the robot with a novel data fusion method. This data fusion method can overcome the shortcomings of accelerometer and gyro so that the precise posture information is obtained even with oscillation and impact. Based on the robot's dynamics model established by Lagrange's function method, two robust sliding mode controllers are designed for controlling the motions of the robot. Not only numerical simulation experiments using MATLAB Simulink and ADAMS but also physical experiments are conducted to confirm the effectiveness of the two controllers, and the results show that the robot performs well with precise measurement of the posture and sliding mode controllers.
AB - A low cost coaxial self-balancing robot is proposed in this paper, the two wheels of which are placed coaxially for turning with zero-radius. Low cost MEMS accelerometer and gyro are selected to measure the posture information of the robot with a novel data fusion method. This data fusion method can overcome the shortcomings of accelerometer and gyro so that the precise posture information is obtained even with oscillation and impact. Based on the robot's dynamics model established by Lagrange's function method, two robust sliding mode controllers are designed for controlling the motions of the robot. Not only numerical simulation experiments using MATLAB Simulink and ADAMS but also physical experiments are conducted to confirm the effectiveness of the two controllers, and the results show that the robot performs well with precise measurement of the posture and sliding mode controllers.
KW - Coaxial Self-Balancing Robot
KW - Data Fusion
KW - Dynamics Simulation
KW - Sliding Mode Control
UR - http://www.scopus.com/inward/record.url?scp=84867604346&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6283528
DO - 10.1109/ICMA.2012.6283528
M3 - Conference contribution
AN - SCOPUS:84867604346
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1241
EP - 1246
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -