Design of Linear Quadratic Optimal Controller for Bicycle Robot

被引：0
|
作者：
Guo, Lei [1 ]
Liao, Qizheng [1 ]
Wei, Shimin [1 ]
Zhuang, Yufeng [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年
关键词：
bicycle robot; Linear dynamic model; district time model; linear quadratic optimal control; computer simulation; DYNAMICS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic model of bicycle robot is similar to be linear model when it is moving at a high speed. Aiming at the goal of balancing bicycle robot with high speed, a kind of linear dynamic model of bicycle robot was presented based on a nonlinear dynamic model of bicycle robot. The open loop stability was analyzed based on the linear dynamic model. And the controllability and observeability of the linear dynamic model was verified. Then the district time model of the bicycle robot was presented based on the continuous time linear model. Then a linear quadratic optimal controller was designed based on linear control theory for the linear dynamic model of bicycle robot. The computer simulation results show the efficiency of the control algorithm. It is practical for the real bicycle robot experiments in future.
引用
收藏
页码：1967 / 1971
页数：5
相关论文
共 50 条
  • [11] Linear Quadratic Regulator Technique for Optimal Load Frequency Controller Design of Interconnected Linear Power Systems.
    Gbadega, Peter Anuoluwapo
    Akindeji, Kayode Timothy
    2020 IEEE PES & IAS POWERAFRICA CONFERENCE, 2020,
  • [12] Convexity of Optimal Linear Controller Design
    Dvijotham, Krishnamurthy
    Theodorou, Evangelos
    Todorov, Emanuel
    Fazel, Maryam
    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2013, : 2482 - 2487
  • [13] Design of Optimal PID Controller for Magnetic Levitation System Using Linear Quadratic Regulator Approach
    Ismail, Laith S.
    Petrescu, Catalin
    Lupu, Ciprian
    Luu, Duc Lich
    2020 INTERNATIONAL SYMPOSIUM ON FUNDAMENTALS OF ELECTRICAL ENGINEERING (ISFEE), 2020,
  • [14] Optimal Linear-Quadratic-Integral Controller Design for Doubly-Fed Induction Generator
    Gurung, Niroj
    Bhattarai, Rojan
    Kamalasadan, Sukumar
    2017 IEEE POWER & ENERGY SOCIETY GENERAL MEETING, 2017,
  • [15] A simple rolling mill model with linear quadratic optimal controller
    Pittner, J
    Samaras, NS
    Simaan, MA
    CONFERENCE RECORD OF THE 2002 IEEE INDUSTRY APPLICATIONS CONFERENCE, VOLS 1-4, 2002, : 142 - 149
  • [16] Design of a linear quadratic Gaussian controller for a manufacturing process
    Yurtseven, M.K.
    Agaran, B.
    Lecture Notes in Electrical Engineering, 2009, 11 : 279 - 288
  • [17] Design of an Underactuated Self Balancing Robot using Linear Quadratic Regulator and Integral Sliding Mode Controller
    Shilpa, B.
    Indu, V
    Rajasree, S. R.
    PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON CIRCUIT ,POWER AND COMPUTING TECHNOLOGIES (ICCPCT), 2017,
  • [18] Design of motion controller for bicycle robot based on DFL nonlinear control method
    Guo, Lei
    Liao, Qizheng
    Wei, Shimin
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 129 - 129
  • [19] Design of fuzzy sliding-mode controller for bicycle robot nonlinear system
    Guo, Lei
    Liao, Qizheng
    Wei, Shiming
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 176 - +
  • [20] An Optimal Linear Controller Design for An Underactuated Unicycle
    Xu, Jian-Xin
    Lim, Jun Leng
    Mamun, Abadula
    Guo, Zhao-Qin
    Lee, Tong Heng
    IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2011, : 4266 - 4271
12345