Improving Control Quality for Two-Wheeled Mobile Robot

摘要

An approach for improving quality of motion control and stabilizing for two-wheeled mobile robot which is affected by internal and external distubances is presented in this paper. An output feedback controller using backstepping combined with high gain observer (HGOs) technique is designed. The decoupling technique for coupling system of two-wheeled mobile robot is also applied. Results of simulation show the effectiveness of the designed controller.