relation: https://khub.utp.edu.my/scholars/19211/
title: Control of A Self-Balancing Robot Under a Disturbed Surface
creator: Poojitha, R.
creator: Deepa, K.
creator: Lekshmi, S.
creator: Kannan, R.
description: 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. © 2023 IEEE.
publisher: Institute of Electrical and Electronics Engineers Inc.
date: 2023
type: Conference or Workshop Item
type: PeerReviewed
identifier:   Poojitha, R. and Deepa, K. and Lekshmi, S. and Kannan, R.  (2023) Control of A Self-Balancing Robot Under a Disturbed Surface.  In: UNSPECIFIED.     
relation: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85164261299&doi=10.1109%2fICDCECE57866.2023.10150784&partnerID=40&md5=cad3ca2e81f6954d165f7380ba2c3b89
relation: 10.1109/ICDCECE57866.2023.10150784
identifier: 10.1109/ICDCECE57866.2023.10150784