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
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