Performance comparison between PID and LQR control on a 2-wheel inverted pendulum robot

Harold F. Murcia, Andres E. Gonzalez

Resultado de la investigación: Capítulo del libro/informe/acta de congresoCapítulo

Resumen

This paper presents a gray box modeling of a Two-Wheeled Inverted Pendulum robot TWIP from LaGrange equation with a closed loop parameter identification method, the design and the implementation of a Single Input, Single Output SISO and a Multiple Input, Multiple Output MIMO controllers for the robot balance. The research issue is to compare PID and LQR controllers for different references to balance the TWIP robot via it's on-board sensor equipment. Both controllers were compared based on responses for disturbance rejection in simulation and a setpoint variation on a prototype to validate the theoretical results.
Idioma originalInglés estadounidense
Título de la publicación alojada2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión impresa)9781509037872
DOI
EstadoPublicada - 9 ene 2017

Serie de la publicación

Nombre2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings

    Huella digital

Citar esto

Murcia, H. F., & Gonzalez, A. E. (2017). Performance comparison between PID and LQR control on a 2-wheel inverted pendulum robot. En 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings (2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCRA.2016.7811420