Design of linear quadratic optimal controller for bicycle robot

Author

Guo, Lei ; Liao, Qizheng ; Wei, Shimin ; Zhuang, Yufeng

Author_Institution

Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

1968

Lastpage

1972

Abstract

The dynamic model of bicycle robot is similar to be linear model when it is moving at a high speed. Aiming at the goal of balancing bicycle robot with high speed, a kind of linear dynamic model of bicycle robot was presented based on a nonlinear dynamic model of bicycle robot. The open-loop stability was analyzed based on the linear dynamic model. And the controllability and observeability of the linear dynamic model was verified. Then the district time model of the bicycle robot was presented based on the continuous time linear model. Then a linear quadratic optimal controller was designed based on linear control theory for the linear dynamic model of bicycle robot. The computer simulation results show the efficiency of the control algorithm. It is practical for the real bicycle robot experiments in future.

Keywords

bicycles; control system synthesis; controllability; linear quadratic control; mobile robots; observability; open loop systems; robot dynamics; stability; bicycle robot; computer simulation; continuous time linear model; control algorithm; controllability; district time model; linear control theory; linear dynamic model; linear quadratic optimal controller design; observability; open-loop stability; Bicycles; Communication system control; Informatics; Mobile robots; Network servers; Neural networks; Optimal control; Robot control; Robot sensing systems; Robotics and automation; Linear dynamic model; bicycle robot; computer simulation; district time model; linear quadratic optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262628

Filename

5262628