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Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was develo...

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Main Authors: Bature, Amir A., Buyamin, Salinda, Ahmad, Mohamad Noh, Muhammad, Mustapha, Muhammad, Auwalu A.
Format: Article
Language:English
Published: Penerbit UTM Press 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/55643/1/MohamadNohAhmad2015_IdentificationandModelPredictivePositionControl.pdf
http://eprints.utm.my/id/eprint/55643/
http://dx.doi.org/10.11113/jt.v73.4467
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spelling my.utm.556432017-11-01T04:16:53Z http://eprints.utm.my/id/eprint/55643/ Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot Bature, Amir A. Buyamin, Salinda Ahmad, Mohamad Noh Muhammad, Mustapha Muhammad, Auwalu A. TK Electrical engineering. Electronics Nuclear engineering In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. Penerbit UTM Press 2015-02 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/55643/1/MohamadNohAhmad2015_IdentificationandModelPredictivePositionControl.pdf Bature, Amir A. and Buyamin, Salinda and Ahmad, Mohamad Noh and Muhammad, Mustapha and Muhammad, Auwalu A. (2015) Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot. Jurnal Teknologi, 73 (6). pp. 147-150. ISSN 2180-3722 http://dx.doi.org/10.11113/jt.v73.4467 DOI:10.11113/jt.v73.4467
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
Bature, Amir A.
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha
Muhammad, Auwalu A.
Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
description In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model.
format Article
author Bature, Amir A.
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha
Muhammad, Auwalu A.
author_facet Bature, Amir A.
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha
Muhammad, Auwalu A.
author_sort Bature, Amir A.
title Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
title_short Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
title_full Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
title_fullStr Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
title_full_unstemmed Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
title_sort identification and model predictive position control of two wheeled inverted pendulum mobile robot
publisher Penerbit UTM Press
publishDate 2015
url http://eprints.utm.my/id/eprint/55643/1/MohamadNohAhmad2015_IdentificationandModelPredictivePositionControl.pdf
http://eprints.utm.my/id/eprint/55643/
http://dx.doi.org/10.11113/jt.v73.4467
_version_ 1643653858425044992
score 13.211869

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