Title :
The select of a permanent magnet brushed DC motor with optimal controller for providing propellant of @Home Mobile Robot
Author :
Zareh, Seiyed Hamid ; Khosroshahi, Maryam ; Abbasi, Meysam ; Osgouie, Kambiz Ghaemi
Author_Institution :
Sharif Univ. of Technol., Kish Island, Iran
Abstract :
This paper first will describe @Home Mobile Robot and DC motors. In continuous, is designed a Direct current (DC) motor for special task due to specific speed diagram for considered robot. This robot wants to work in intermittent operation condition. Finally is done a speed control on a selected permanent magnet brushed DC motor using of Linear-Quadratic-Regulator (LQR), Linear-Quadratic-Gaussian (LQG) and Fuzzy logic controllers.
Keywords :
brushless DC motors; control system synthesis; fuzzy control; linear quadratic Gaussian control; mobile robots; permanent magnet motors; service robots; velocity control; direct current motor; fuzzy logic controllers; home mobile robot; linear-quadratic-gaussian; linear-quadratic-regulator; optimal controller; permanent magnet brushed DC motor; speed control; DC motors; Friction; Gears; Mobile robots; Torque; Velocity control;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5589310
