Design of an Advanced Control System for an Inverted Wheeled Robot

Duvan Smith Barreto Sosa, Hernando Gonzalez Acevedo

Resultado de la investigación: Libro / Capitulo del libro / InformeLibros de Investigaciónrevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
EditoresLuz Alejandra Magre Colorado
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728194967
DOI
EstadoPublicada - 4 nov. 2020
Evento9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Cartagena de Indias, Colombia
Duración: 4 nov. 20206 nov. 2020

Serie de la publicación

Nombre2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings

Conferencia

Conferencia9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020
País/TerritorioColombia
CiudadCartagena de Indias
Período4/11/206/11/20

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