This paper presents a development of the two-wheel balancing robot, which is inherently unstable. In order to stabilize the attitude command, system dynamic model is first derived, and the system parameters are identified. And then the DOB controller ...
This paper presents a development of the two-wheel balancing robot, which is inherently unstable. In order to stabilize the attitude command, system dynamic model is first derived, and the system parameters are identified. And then the DOB controller with robustness on disturbance is designed based on the model. The performance of the overall robot system has been verified via simulations.