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Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy. / Velazquez, Miguel; Cruz, David; Garcia, Salatiel et al.
In: International Journal of Advanced Robotic Systems, Vol. 13, No. 3, 01.06.2016.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Velazquez, M, Cruz, D, Garcia, S & Bandala, M 2016, 'Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy', International Journal of Advanced Robotic Systems, vol. 13, no. 3. https://doi.org/10.5772/63933

APA

Velazquez, M., Cruz, D., Garcia, S., & Bandala, M. (2016). Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy. International Journal of Advanced Robotic Systems, 13(3). https://doi.org/10.5772/63933

Vancouver

Velazquez M, Cruz D, Garcia S, Bandala M. Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy. International Journal of Advanced Robotic Systems. 2016 Jun 1;13(3). Epub 2016 Jan 1. doi: 10.5772/63933

Author

Velazquez, Miguel ; Cruz, David ; Garcia, Salatiel et al. / Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy. In: International Journal of Advanced Robotic Systems. 2016 ; Vol. 13, No. 3.

Bibtex

@article{dade6a546ce54d8b86940d4acaf85c93,
title = "Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy",
abstract = "This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.",
keywords = "Cascade Control, PID, Self-balancing Vehicle",
author = "Miguel Velazquez and David Cruz and Salatiel Garcia and Manuel Bandala",
year = "2016",
month = jun,
day = "1",
doi = "10.5772/63933",
language = "English",
volume = "13",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "SAGE Publications Inc.",
number = "3",

}

RIS

TY - JOUR

T1 - Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

AU - Velazquez, Miguel

AU - Cruz, David

AU - Garcia, Salatiel

AU - Bandala, Manuel

PY - 2016/6/1

Y1 - 2016/6/1

N2 - This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

AB - This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

KW - Cascade Control

KW - PID

KW - Self-balancing Vehicle

U2 - 10.5772/63933

DO - 10.5772/63933

M3 - Journal article

AN - SCOPUS:84993953296

VL - 13

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 3

ER -