Title :
Two wheels mobile robot using optimal regulator control
Author :
Ghani, N. M Abdul ; Ju, D. ; Othman, H.Z. ; Ahmad, M.A.
Author_Institution :
Fac. of Electr. & Electron. Eng., Univ. Malaysia Pahang, Pekan, Malaysia
fDate :
Nov. 29 2010-Dec. 1 2010
Abstract :
This paper presents a comparative assessment of Pole Placement and Linear Quadratic Regulator to control a balancing of two wheels mobile robot. Disturbance is applied to to test the balancing of the robot. The mathematical model of this robot which is highly nonlinear is derived. The final model is then represented in state space form using MATLAB/Simulink application. Simulation on MATLAB application is analyzed and the performance of position, speed, angle, and angle rate of the balancing robot are observed to find out the best controller for two wheels balancing robot model.
Keywords :
linear quadratic control; mechanical variables control; mobile robots; state-space methods; MATLAB; Simulink; balancing control; balancing robot; linear quadratic regulator; optimal regulator control; pole placement; two wheels mobile robot; Two wheels balancing robot; linear quadratic regulator; pole placement;
Conference_Titel :
Intelligent Systems Design and Applications (ISDA), 2010 10th International Conference on
Conference_Location :
Cairo
Print_ISBN :
978-1-4244-8134-7
DOI :
10.1109/ISDA.2010.5687046
