2輪型倒立振子ロボットのサンプル値制御

Abstract

In this paper, we consider digital control of two-wheel self-balancing robots. Conventionally, a continuous-time controller is first designed and then discretized to implement it on a digital controller. In this case, intersample behavior is often ignored. Alternatively, we propose sampled-data control for self-balancing robots to improve intersample behavior. We show simulation and experimental results to illustrate the effectiveness of the proposed method.