TY - GEN
T1 - Design of an Advanced Control System for an Inverted Wheeled Robot
AU - Sosa, Duvan Smith Barreto
AU - Acevedo, Hernando Gonzalez
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/4
Y1 - 2020/11/4
N2 - 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.
AB - 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.
KW - LQG
KW - dynamic model
KW - inverted pendulum
KW - loop shaping
KW - nonlinear system
KW - simulation
KW - wheeled robot
UR - http://www.scopus.com/inward/record.url?scp=85099263174&partnerID=8YFLogxK
U2 - 10.1109/CIIMA50553.2020.9290311
DO - 10.1109/CIIMA50553.2020.9290311
M3 - Libros de Investigación
AN - SCOPUS:85099263174
T3 - 2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
BT - 2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
A2 - Colorado, Luz Alejandra Magre
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020
Y2 - 4 November 2020 through 6 November 2020
ER -