Publication Type:

Conference Paper

Source:

2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)

ISBN:

9781509049677

URL:

https://ieeexplore.ieee.org/document/8074224

Keywords:

control system synthesis, Control systems, Friction, integral sliding mode controller, Integral sliding mode controller (ISMC), ISMC, linear quadratic control, linear quadratic regulator, Linear Quadratic Regulator (LQR), Linear quadratic tracking (LQT), LQR, Matlab simulation, Mobile robots, nonlinear control systems, pendulums, set point control task, torque, two wheeled inverted pendulum mobile robot, two wheeled self balancing robot, uncertainty, underactuated self balancing robot design, variable structure systems, Wheeled mobile robot (WMR), Wheels, WMR

Abstract:

This paper describes the design procedure of an underactuated self balancing robot using LQR and ISMC. The two wheeled self balancing robot works on the principle of inverted pendulum concept so it is otherwise referred to as two wheeled inverted pendulum mobile robot. The two WMR is widely used in many applications such as a personal transport system (Segway), robotic wheelchair, baggage transportation and navigation etc. LQR and ISMC are introduced into the system in order to achieve the set point control task. That is the 2 WMR should reach the desired set point and then stops while keeping the balance. Both the controller will track the system but the performance of the controller slows some slight differences. By using the MATLAB simulation, two methods are compared and discussed. Also the load transportation task is also assigned to this 2 WMR and controlled using LQR controller.

Cite this Research Publication

B. Shilpa, Indu V., and Rajasree, S. R., “Design of an underactuated self balancing robot using linear quadratic regulator and integral sliding mode controller”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.