Modelling and optimal control for two- wheeled self-balancing robot
Corressponding author's email:
luunp@hcmute.edu.vnKeywords:
Two-wheeled Self-balancing Robot/Cart, optimal control, LQR, Matlab/Simulink, MIMO, experimentAbstract
Two-wheeled Self-balancing Cart is a popular model in automatic experiments. This is a MIMO system (multi-input and multi-output) which is theoretical, practical and has been applied in normal life. Anyway, most research just focuses on balancing this model through try-on experiments or simple form of mathematical model. There are still so few research works focusing on modelling algorithm and designing a mathematical model-based controller for this system. This paper developed all mathematical equations of the system. Then, the authors successfully applied optimal control for this system. Optimal controller was tested with different cases of cart motion. Controlling results was proved to work well through both experiments and simulation on Matlab/Simulink
Downloads: 0
References
A. N. K. Nasir, M. A. Ahmad, R. M. T. Raja Ismail, The Control of a Highly Nonlinear Two-wheeled Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, Vol. 4, No. 10, 2010.
Nguyen Ngoc Son, Ho Pham Huy Anh, Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter, International Journal of Advanced Robotic Systems, Vol. 11, No. 1, 2014.
Ming Yue, Wei Sun, Ping Hu, Sliding Mode Robust Control for Two-wheeled Mobile Robot with Lower Center of Gravity, International Journal of Innovative Computing, Information and Control, Vol. 7, No. 2, 2011.
Samer Miasa, Mohammad Al-Mjali, Anas Al-Haj Ibrahim, and Tarek A. Ttunji, Fuzzy Control of a Two-Wheel Balancing Robot using DSPIC, 7th International Multi-Conference on Systems, Signals and Devices, 2010.
Unluturk, A, Aydogdu, O, Guner, U., Design and PID control of two wheeled autonomous balance robot, International Conference on Electronics, Computer and Computation (ICECCO), (IEEE), pp. 260-264, 2013.
Congying Qiu, Yibin Huang, The Design of Fuzzy Adaptive PID Controller of Two-Wheeled Self-Balancing Robot, International Journal of Information and Electronics Engineering, Vol. 5, No. 3, 2015.
Downloads
Published
How to Cite
Issue
Section
Categories
License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Copyright © JTE.
