Kinematic Control of 2-wheeled Segway
Systems and Control
2021-09-27 v1 Systems and Control
Abstract
The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to design a closed-loop feedback to establish control for the system. This has been done by implementing a PD controller for the multiple-output system. Since the kinematic equations of the system are non-linear initially, the controller has been designed by linearizing the equations about the equilibrium point. Later, the response of the non-linear system is examined using the designed controller.
Cite
@article{arxiv.2109.11919,
title = {Kinematic Control of 2-wheeled Segway},
author = {Palak Purohit and Poojan Modi and Udit Vyas},
journal= {arXiv preprint arXiv:2109.11919},
year = {2021}
}