Research Article

Open-Closed-Loop PD Iterative Learning Control with a Variable Forgetting Factor for a Two-Wheeled Self-Balancing Mobile Robot

Table 1

Variables and parameters of the two-wheeled self-balancing mobile robot.

SymbolParameterValueUnit

Mass of the wheel1.12kg
Mass of the self-balancing robot body0.51kg
Wheel diameter0.042m
Distance of barycenter to axle center0.084m
Rotational inertia0.0032kg.m2
Gravitational acceleration9.87m/s2
Friction coefficient of wheel and ground0.1N/m/sec