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Improving Control Quality for Two-Wheeled Mobile Robot

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Advances in Information and Communication Technology (ICTA 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 538))

Abstract

An approach for improving quality of motion control and stabilizing for two-wheeled mobile robot which is affected by internal and external distubances is presented in this paper. An output feedback controller using backstepping combined with high gain observer (HGOs) technique is designed. The decoupling technique for coupling system of two-wheeled mobile robot is also applied. Results of simulation show the effectiveness of the designed controller.

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Author information

Authors and Affiliations

  1. Thai Nguyen University of Technology, 3/2 Street, Thai Nguyen City, Vietnam

    Gia Thi Dinh, Nguyen Duy Cuong & Nguyen Dang Hao

Authors
  1. Gia Thi Dinh
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  2. Nguyen Duy Cuong
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  3. Nguyen Dang Hao
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Corresponding author

Correspondence to Gia Thi Dinh .

Editor information

Editors and Affiliations

  1. School of Information Science、Area of Human Life Design , Japan Advanced Institute of Science and Technology, Nomi-shi, Ishikawa, Japan

    Masato Akagi

  2. Department of Computer Science, VNU University of Engineering and Technology, Hanoi, Vietnam

    Thanh-Thuy Nguyen

  3. Faculty of Information Technology, Thai Nguyen University of Information and Communication Technology, Thai Nguyen, Vietnam

    Duc-Thai Vu

  4. Thai Nguyen University of Information and Communication Technology, Thai Nguyen, Vietnam

    Trung-Nghia Phung

  5. School of Knowledge Science、Area of Knowledge Management , Japan Advanced Institute of Science and Technology, Nomi-shi, Ishikawa, Japan

    Van-Nam Huynh

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Dinh, G.T., Cuong, N.D., Hao, N.D. (2017). Improving Control Quality for Two-Wheeled Mobile Robot. In: Akagi, M., Nguyen, TT., Vu, DT., Phung, TN., Huynh, VN. (eds) Advances in Information and Communication Technology. ICTA 2016. Advances in Intelligent Systems and Computing, vol 538. Springer, Cham. https://doi.org/10.1007/978-3-319-49073-1_30

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  • DOI: https://doi.org/10.1007/978-3-319-49073-1_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49072-4

  • Online ISBN: 978-3-319-49073-1

  • eBook Packages: EngineeringEngineering (R0)

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