COMPUTER SCIENCE. CALCULATION EQUIPMENT. MANAGEMENT

Control system for monoaxial wheeled balancing platform

V. N. Maksimov, A. I. Chernomorskii, V. E. Plekhanov

Moscow Aviation Institute (The State Technical University), 125993, Moscow, A-80, GSP-3, Volokolamsk highway, 4

Abstract: Possibility of application of model-based approach to development of control system for locomotion and trajectory tracking for two-wheeled platform is considered. Variant of control system architecture using micromechanical attitude and heading reference module for platform’s attitude measurement is proposed.

Keywords: balancing wheeled platform, model-based design, micromechanics, control system.

UDC: 627.71

Received: 24.01.2011

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