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
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);
Conference_Titel :
Advanced Communication Control and Computing Technologies (ICACCCT), 2014 International Conference on
Conference_Location :
Ramanathapuram
Print_ISBN :
978-1-4799-3913-8
DOI :
10.1109/ICACCCT.2014.7019413
