Design of an Advanced Control System for an Inverted Wheeled Robot

Duvan Smith Barreto Sosa, Hernando Gonzalez Acevedo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The inverted pendulum is a system widely used in engineering education because it is fast, high-order, multivariable, under-actuated that combines non-linearity, intrinsic instability, and strong coupling. However, this system is usually treated as ideal in the design of the controllers, complications of the physical implementation of the system are not taken into accounts, such as disturbances, noise in sensors and actuators, no oversizing of the actuator and starting conditions. The present paper propose the design of Robust control strategies based on the loop shaping technique and a linear quadratic Gaussian control (LQG) applied to an inverted pendulum on two wheels, which works only in one plane, proposes a controller design methodology that takes into account the effects of the complications of the physical world raised above.

Original languageEnglish
Title of host publication2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
EditorsLuz Alejandra Magre Colorado
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728194967
DOIs
StatePublished - 4 Nov 2020
Event9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Cartagena de Indias, Colombia
Duration: 4 Nov 20206 Nov 2020

Publication series

Name2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings

Conference

Conference9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020
Country/TerritoryColombia
CityCartagena de Indias
Period4/11/206/11/20

Keywords

  • dynamic model
  • inverted pendulum
  • loop shaping
  • LQG
  • nonlinear system
  • simulation
  • wheeled robot

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