Paper Title:

Development of an Autonomous Two-Wheeled Vehicle Robot

Periodical Advanced Engineering Forum OPEN ACCESS (Volumes 2 - 3)
Main Theme Mechatronics and Information Technology
Edited by Qingkai Han, Kazuhiko Takahashi, Chang-Hyun Oh and Zhong Luo
Pages 390-395
DOI 10.4028/www.scientific.net/AEF.2-3.390
Citation Minoru Sasaki et al., 2011, Advanced Engineering Forum OPEN ACCESS, 2-3, 390
Online since December, 2011
Authors Minoru Sasaki, Hidenobu Tanaka, Satoshi Ito
Keywords LQI Control, Modeling, Steering Control, System Development, Two-Wheeled Vehicle Robot
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Abstract

This paper describes a development of an autonomous two-wheeled vehicle robot. The model of the two-wheeled vehicle using steering control is derived. The control systems are designed by linear quadratic regulator and linear quadratic integral method. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The experimental results and simulation results show stable running control of the two-wheeled vehicle robot and coincident with each other. The approach is validated through these results.