Publication Type : Conference Proceedings
Publisher : IEEE
Source : International Conference on Distributed Computing and Electrical Circuits and Electronics (ICDCECE), Ballar, India, 2023
Url : https://ieeexplore.ieee.org/document/10150784
Campus : Bengaluru
School : School of Engineering
Department : Electrical and Electronics
Verified : No
Year : 2023
Abstract : A successful strategy for growth and improvement has been seen in the Self-Balancing Robot (SB). SB works on the Inverted Pendulum (IP) principle. primary challenge of the control and design of the SB system is to consider the fact that disturbance rejection and the disturbance in the SB stability with respect to the surface are functions of vehicle position change over time (acceleration). In this paper, the nonlinear dynamical system using the Proportional-Integral-Derivative (PID), Linear-Quadratic-Regulator (LQR) and PID & LQR is discussed, and the stability of the system is analyzed. A new control design approach where two controllers LQR-PID are combined to provide strong stability to the nonlinear system. The results obtained are presented and analysed.
Cite this Research Publication : P. R, D. K, L. S and R. Kannan, "Control of A Self-Balancing Robot Under a Disturbed Surface," 2023 International Conference on Distributed Computing and Electrical Circuits and Electronics (ICDCECE), Ballar, India, 2023, pp. 1-6, doi: 10.1109/ICDCECE57866.2023.10150784.