PID BACKSTEPPING CONTROLLER DESIGN FOR MOTION CONTROL OF SEGWAY VEHICLE

PID BACKSTEPPING CONTROLLER DESIGN FOR MOTION CONTROL OF SEGWAY VEHICLE
Author(s):
Chetanraj D Patil
Keywords:
Inverted pendulum, Segway vehicle, Backstepping, PID controller.
Abstract
This paper proposes a PID Backstepping controller design method for motion control of Segway vehicle. The Segway vehicle consists of two wheels and chassis, etc. Based on Newton’s 2nd law, modeling of wheels and chassis are proposed. A control system is designed based on the modeling of wheels and chassis. The control system consists of three loops composed of balance control loop, rotation control loop for chassis and position control loop for Segway vehicle. The balance control loop and the rotation control loop are designed using Lyapunove functions and using Backstepping method. The position control loop is designed using PD controller. The effectiveness of the proposed control system is shown by simulation results.
Article Details
Unique Paper ID: 146519 Publication Volume & Issue: Volume 5, Issue 1 Page(s): 15 - 20
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