Design approach of weighting matrices for optimal controller design for autonomous mobile robot

Author

Khatoon, Shahida ; Ibraheem ; Naz, Kaukab

Author_Institution

Dept. of Electr. Eng., Jamia Millia Islamia, New Delhi, India

fYear

2014

Firstpage

1

Lastpage

6

Abstract

In this research work, the objective is to investigate the suitability and examine the performance of linear control systems like the linear Quadratic Regulator in stabilizing the system and the effect of choosing error weighting matrix Q and Control weighting matrix R. This approach is based on approximate reasoning and knowledge based control. A mathematical model of prototype Agentis derived and subsequently A Linear Quadratic Regulator (LQR) is evaluated for controlling and stabilizing the system.

Keywords

control engineering computing; control system synthesis; inference mechanisms; knowledge based systems; linear quadratic control; linear systems; matrix algebra; mobile robots; stability; uncertainty handling; wheels; Agentis; LQR; approximate reasoning; autonomous wheeled mobile robot; control weighting matrix; error weighting matrix; knowledge based control; linear control system; linear quadratic regulator; optimal controller design; system stabilization; Control systems; Cybernetics; Mathematical model; Mobile robots; Steady-state; Vehicle dynamics; Control weighting matrix R; Error weighting matrix Q; LQR Control; Two Wheeled inverted pendulum (T-WIP) System;

fLanguage

English

Publisher

ieee

Conference_Titel

Power India International Conference (PIICON), 2014 6th IEEE

Print_ISBN

978-1-4799-6041-5

Type

conf

DOI

10.1109/34084POWERI.2014.7117714

Filename

7117714