شماره ركورد كنفرانس :
3208
عنوان مقاله :
Optimal Control of Segway Personal Transporter
پديدآورندگان :
Babazadeh, Reza Department of Systems and Control - K.N. Toosi University of Technology , Gogani Khiabani, Ataollah Department of Systems and Control - K.N. Toosi University of Technology , Azmi, Hadi Electrical Engineering Faculty - Sahand University of Technology
كليدواژه :
Riccati Equation , styling , State Feedback controller , Segway Personal Transporter , Optimal Control
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In this paper an optimal controller is proposed for
a self-balancing electrical vehicle called Segway PT. This vehicle
has one platform and two wheels on the sides and the rider
stands on the platform. A handlebar, as a navigator, is attached
to the body of Segway, with which the rider controls the vehicle.
Since Segway uses electrical energy produced by batteries,
resource consumption management is of utmost importance. On
the other hand, complex nonlinear dynamics cause difficulties in
controlling the vehicle. Our proposed controller reduces energy
consumption and enhance response speed of system instead of
classic PID controller which proposed before. Simulation results
show the desired performance of the proposed controller.
