Motion Control of Two-Wheeled Robot with the Top Position of Cargo

A.S. Maltsev (Russia)


Two-wheeled mobile robot, modeling, control.


We consider the problem of moving two-wheeled mobile robot with the top position of cargo. We present the robot model obtained on the basis of d'Alembert Lagrange equation. The behaviour of the robot at different initial conditions and feedback control with outputs higher derivatives were investigated.

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