• DocumentCode
    238194
  • Title

    Design of H2 controller for stabilization of two-wheeled inverted pendulum

  • Author

    Mathew, Sheelu Treesa ; Mija, S.J.

  • Author_Institution
    Dept. of Electr. Eng., Nat. Inst. of Technol., Calicut, India
  • fYear
    2014
  • fDate
    8-10 May 2014
  • Firstpage
    174
  • Lastpage
    179
  • Abstract
    In this paper, an H2 control system is designed for the two-wheeled inverted pendulum robot (TWIP). The mathematical model is developed based on Lego mindstorm inverted pendulum-Legway and is used in order to facilitate the development of an efficient H2 controller for stabilizing the system. Finally the effectiveness and robustness of the H2 control is verified by simulations and is substantiated by comparing with the performance of LQR controller.
  • Keywords
    control system synthesis; nonlinear control systems; pendulums; stability; H2 controller design; Lego mindstorm inverted pendulum-Legway; TWIP; mathematical model; two-wheeled inverted pendulum robot; two-wheeled inverted pendulum stabilization; DC motors; Frequency modulation; Friction; Integrated optics; Phase locked loops; Vehicles; H2 control; LQG problem; LQR control; Two Wheeled Inverted pendulum (TWIP);
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Communication Control and Computing Technologies (ICACCCT), 2014 International Conference on
  • Conference_Location
    Ramanathapuram
  • Print_ISBN
    978-1-4799-3913-8
  • Type

    conf

  • DOI
    10.1109/ICACCCT.2014.7019413
  • Filename
    7019413
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=238194