Coupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller

被引：3
|
作者：
Mohan, Shweda [1 ]
Nandagopal, J. L. [1 ]
Amritha, S. [1 ]
机构：
[1] Amrita Univ, Amrita Vishwa Vidyapeetham, Amrita Sch Engn, Dept Elect & Elect Engn, Coimbatore, Tamil Nadu, India
来源：
MATERIALS TODAY-PROCEEDINGS | 2018年 / 5卷 / 01期
关键词：
Decoupled dynamics; Dynamic equation; unicycle robot; velocity and trajectory control; sliding mode control; linear quadratic regulator (LQR) control; lyapunov function; WHEEL PENDULUM;
D O I：
10.1016/j.matpr.2017.11.232
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Unicycle robot is a non-linear, unbalance system that has the less number of point contact to the ground, therefore it is a best platform for researchers to study balance control and motion. This paper focuses on the dynamic modeling and control of unicycle robot. A coupled nonlinear system dynamics is considered for the controller design. Two different controllers are proposed -integral LQR for pitch dynamics and integral sliding mode for roll dynamics. Simulations performed on MATLAB/SIMULINK platform proved the effectiveness of the proposed controllers. (c) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1447 / 1454
页数：8
相关论文
共 50 条
  • [21] Sliding mode control of a two-degree-of-freedom helicopter via linear quadratic regulator
    Yu, GR
    Liu, HT
    INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOL 1-4, PROCEEDINGS, 2005, : 3299 - 3304
  • [22] Active engine mounting controller design using linear quadratic regulator and proportional integral derivative
    Mahil, Ahmed M.
    Shah, Muzzaffar Ahmad
    Faris, Waleed F.
    INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL, 2011, 5 (03) : 284 - 297
  • [23] Speed control of PMSM using fractural order integral sliding mode controller
    Huang, Jia-Cai, 1736, Editorial Board of Jilin University (44):
  • [24] Integral Sliding Mode Controller for Trajectory Tracking of A Phantom Omni Robot
    Al-Wais, Saba
    Al-Samarraie, Shibly A.
    Abdi, Hamid
    Nahavandi, Saeid
    PROCEEDINGS OF 2016 INTERNATIONAL CONFERENCE ON CYBERNETICS, ROBOTICS AND CONTROL (CRC), 2016, : 6 - 12
  • [25] Integral Sliding Mode Control for a Human Support Robot
    Qing, Fandi
    Chang, Hongbin
    Su, Xiaojie
    Wang, Shuoyu
    2021 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR), 2021, : 369 - 372
  • [26] Application of Sliding Mode Controller With Proportional Integral Switching Gain in Robot
    Zhang, Xiaofei
    Ma, Hongbin
    Li, Nannan
    Zhang, Xinghong
    PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2017, : 478 - 482
  • [27] EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT
    Dib, Alaa
    Siguerdidjane, Houria
    ICINCO 2011: PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2011, : 445 - 450
  • [28] Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller
    Ali, Irfan
    Hassan, Mohsan
    Bano, Zarqa
    Chunwei, Zhang
    INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2024, 8 (02) : 370 - 379
  • [29] Robust integral sliding mode regulator for linear systems with multiple time delays in control input
    Basin, M
    Rodriguez-Gonzalez, J
    Acosta, P
    Fridman, L
    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 4056 - 4061
  • [30] Control of a unicycle robot using a non-model based controller
    Lee, J. (jmlee@pusan.ac.kr), 1600, Institute of Control, Robotics and Systems (20):
12345