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Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes

A Two-Wheeled Inverted Pendulum (TWIP) mobile robot attracted the interest of researchers worldwide due to its nonlinear and unstable dynamics. Literature review shows that, most of the nonlinear controllers proposed for the TWIP mobile robot are based on dynamic model derived using Lagrange approac...

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主要な著者: M., Muhammad, S., Buyamin, M. N., Ahmad, S. W., Nawawi, Z., Ibrahim
フォーマット: 論文
出版事項: Praise Worthy Prize 2012
主題:
TA Engineering (General). Civil engineering (General)
オンライン･アクセス:http://eprints.utm.my/id/eprint/33940/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619
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spelling my.utm.339402019-03-31T08:31:10Z http://eprints.utm.my/id/eprint/33940/ Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes M., Muhammad S., Buyamin M. N., Ahmad S. W., Nawawi Z., Ibrahim TA Engineering (General). Civil engineering (General) A Two-Wheeled Inverted Pendulum (TWIP) mobile robot attracted the interest of researchers worldwide due to its nonlinear and unstable dynamics. Literature review shows that, most of the nonlinear controllers proposed for the TWIP mobile robot are based on dynamic model derived using Lagrange approach. Thus, this paper shows the study of the TWIP mobile robot using Kane's method. The paper investigates and compares the performance of nonlinear (partial feedback linearization (PFL)) and linear (linear quadratic regulator (LQR)) control schemes in controlling a TWIP mobile robot. The nonlinear dynamical equations of the TWIP mobile robot were first derived using Kane's Method. The dynamical equations were then linearized around an operating point. Two controllers were designed for the TWIP mobile robot. The first controller is partial feedback linearization (PFL), while the second controller is linear quadratic regulator (LQR). The performance of the two controllers was compared in terms of reference command tracking and parameter variation via simulations. Praise Worthy Prize 2012-04 Article PeerReviewed M., Muhammad and S., Buyamin and M. N., Ahmad and S. W., Nawawi and Z., Ibrahim (2012) Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes. International Review on Modelling and Simulations, 5 (2). pp. 1038-1048. ISSN 1974-9821 http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619
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/
topic TA Engineering (General). Civil engineering (General)
spellingShingle TA Engineering (General). Civil engineering (General)
M., Muhammad
S., Buyamin
M. N., Ahmad
S. W., Nawawi
Z., Ibrahim
Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
description A Two-Wheeled Inverted Pendulum (TWIP) mobile robot attracted the interest of researchers worldwide due to its nonlinear and unstable dynamics. Literature review shows that, most of the nonlinear controllers proposed for the TWIP mobile robot are based on dynamic model derived using Lagrange approach. Thus, this paper shows the study of the TWIP mobile robot using Kane's method. The paper investigates and compares the performance of nonlinear (partial feedback linearization (PFL)) and linear (linear quadratic regulator (LQR)) control schemes in controlling a TWIP mobile robot. The nonlinear dynamical equations of the TWIP mobile robot were first derived using Kane's Method. The dynamical equations were then linearized around an operating point. Two controllers were designed for the TWIP mobile robot. The first controller is partial feedback linearization (PFL), while the second controller is linear quadratic regulator (LQR). The performance of the two controllers was compared in terms of reference command tracking and parameter variation via simulations.
format Article
author M., Muhammad
S., Buyamin
M. N., Ahmad
S. W., Nawawi
Z., Ibrahim
author_facet M., Muhammad
S., Buyamin
M. N., Ahmad
S. W., Nawawi
Z., Ibrahim
author_sort M., Muhammad
title Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
title_short Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
title_full Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
title_fullStr Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
title_full_unstemmed Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes
title_sort velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and lqr control schemes
publisher Praise Worthy Prize
publishDate 2012
url http://eprints.utm.my/id/eprint/33940/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619
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score 13.251813

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