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

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

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Title: Comparison Of Sliding Mode Controller And State Feedback Controller Having Linear Quadratic Regulator (Lqr) On A Two-Wheel Inverted Pendulum Robot: Design And Experiments
Author: Arani, Mikail S.
Orimi, Hamid Ebrahimi
Xie, Wen-Fang
Hong, Henry
Identifier: CSME172
Abstract: The 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.
Subject: Mechatronics
Robots and Control
Linear Quadratic Regulator (LQR)
Sensor data fusion
Sliding mode control
Two-wheel inverted pendulum (TWIP) robot
Type: Article
Rights: The copyright for the paper content remains with the author.
URI: http://hdl.handle.net/10315/35251
http://dx.doi.org/10.25071/10315/35251
Published: CSME-SCGM
ISSN: 978-1-77355-023-7
Date: 2018-05

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