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Dynamic modelling and optimal control scheme of wheel inverted pendulum for mobile robot application

Shamsudin, Mohamad Amir and Mamat, Rosbi and Nawawi, Sophan Wahyudi (2013) Dynamic modelling and optimal control scheme of wheel inverted pendulum for mobile robot application. International Journal of Control Theory and Computer Modeling, 3 (6). pp. 1-20. ISSN 2249-1155

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Official URL: http://dx.doi.org/10.5121/ijctcm.2013.3601

Abstract

Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward partial-state PID controller is proposed and formulated to quadratic optimal regulation tuning method. It enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error and a realistic utilization of torque energy. Simulation and numerical analyses are carried out to analyse system’s stability and to determine the performance of the proposed controller for mobile wheel inverted pendulum application.

Item Type:Article
Uncontrolled Keywords:wheel inverted pendulum, Kane’s method, partial-state PID, quadratic optimal regulation tuning
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:40394
Deposited By: Narimah Nawil
Deposited On:19 Aug 2014 01:25
Last Modified:05 Mar 2019 01:46

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