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.
| Symbol | Parameter | Value | Unit |
| | Mass of the wheel | 1.12 | kg | | Mass of the self-balancing robot body | 0.51 | kg | | Wheel diameter | 0.042 | m | | Distance of barycenter to axle center | 0.084 | m | | Rotational inertia | 0.0032 | kg.m2 | | Gravitational acceleration | 9.87 | m/s2 | | Friction coefficient of wheel and ground | 0.1 | N/m/sec |
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