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LQG Control of a Two-Wheeled Mobile Pendulum System

Authors:
Ákos Odry
Ervin Burkus
Péter Odry

Keywords: LQG control; Kalman-filter; mobile robot; self-balancing robot; future transportation system

Abstract:
In this paper, the linear-quadratic-Gaussian control of a mechatronic system will be studied. The mechatronic system is a special mobile robot (called two-wheeled mobile pendulum) having two-wheels, two contact points with the supporting surface and its center of mass is located under the wheel axis. Due to the mechanical structure, the inner body (which acts as a pendulum between the wheels) tends to oscillate during the translational motion of the robot, thus the application of modern control methods is essential in order to stabilize the dynamical system. In the first part of the paper, the mechatronic system and the corresponding mathematical model are introduced, while in the second part different controllers are designed for the plant. The achieved control performances are analyzed based on simulation and implementation results.

Pages: 105 to 112

Copyright: Copyright (c) IARIA, 2015

Publication date: October 11, 2015

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-437-4

Location: St. Julians, Malta

Dates: from October 11, 2015 to October 16, 2015