DocumentCode
2059895
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
fYear
2010
fDate
Nov. 29 2010-Dec. 1 2010
Firstpage
1066
Lastpage
1070
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Systems Design and Applications (ISDA), 2010 10th International Conference on
Conference_Location
Cairo
Print_ISBN
978-1-4244-8134-7
Type
conf
DOI
10.1109/ISDA.2010.5687046
Filename
5687046
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