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Modelling and control of a balancing robot using digital state space approach

This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In o...

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Main Author: Abdul Kadir, Herdawatie
Format: Thesis
Language:English
Published: 2005
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf
http://eprints.utm.my/id/eprint/2721/
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spelling my.utm.27212018-06-25T00:41:01Z http://eprints.utm.my/id/eprint/2721/ Modelling and control of a balancing robot using digital state space approach Abdul Kadir, Herdawatie TK Electrical engineering. Electronics Nuclear engineering This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform 2005-11 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf Abdul Kadir, Herdawatie (2005) Modelling and control of a balancing robot using digital state space approach. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Abdul Kadir, Herdawatie
Modelling and control of a balancing robot using digital state space approach
description This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform
format Thesis
author Abdul Kadir, Herdawatie
author_facet Abdul Kadir, Herdawatie
author_sort Abdul Kadir, Herdawatie
title Modelling and control of a balancing robot using digital state space approach
title_short Modelling and control of a balancing robot using digital state space approach
title_full Modelling and control of a balancing robot using digital state space approach
title_fullStr Modelling and control of a balancing robot using digital state space approach
title_full_unstemmed Modelling and control of a balancing robot using digital state space approach
title_sort modelling and control of a balancing robot using digital state space approach
publishDate 2005
url http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf
http://eprints.utm.my/id/eprint/2721/
_version_ 1643643638710796288
score 13.211869

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