Comparison Of Sliding Mode Controller And State Feedback Controller Having Linear Quadratic Regulator (Lqr) On A Two-Wheel Inverted Pendulum Robot: Design And Experiments

dc.contributor.authorArani, Mikail S.
dc.contributor.authorOrimi, Hamid Ebrahimi
dc.contributor.authorXie, Wen-Fang
dc.contributor.authorHong, Henry
dc.date.accessioned2018-11-06T14:27:42Z
dc.date.available2018-11-06T14:27:42Z
dc.date.issuedMay-18
dc.description.abstractThe current paper investigates two control methods for stabilizing a two-wheel inverted pendulum (TWIP) robot. It is well-known that the controller in the mobile robot plays a critical role in self-balancing and stabilizing. The TWIP robot has two DC gear motors with a high-resolution encoder and zero backlash, but with friction. It is a highly nonlinear and unstable system, which poses challenges for controller design. In this paper, a mathematical dynamic model is built using Lagrangian function method. Furthermore, a sliding mode controller (SMC) is proposed for auto-balancing and yaw rotation. A comparison of the proposed SMC controller and linear quadratic regulator (LQR) has been conducted. The experimental test results demonstrate the SMC controller outperforms (LQR) in terms of transient performance and disturbance rejection ability.
dc.identifierCSME172
dc.identifier.issn978-1-77355-023-7
dc.identifier.urihttp://hdl.handle.net/10315/35251
dc.identifier.urihttp://dx.doi.org/10.25071/10315/35251
dc.language.isoenen_US
dc.publisherCSME-SCGMen_US
dc.rightsThe copyright for the paper content remains with the author.
dc.subjectLinear Quadratic Regulator (LQR)
dc.subjectSensor data fusion
dc.subjectSliding mode control
dc.subjectTwo-wheel inverted pendulum (TWIP) robot
dc.subjectMechatronicsen_US
dc.subjectRobots and Controlen_US
dc.titleComparison Of Sliding Mode Controller And State Feedback Controller Having Linear Quadratic Regulator (Lqr) On A Two-Wheel Inverted Pendulum Robot: Design And Experimentsen_US
dc.typeArticleen_US

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