%0 Conference Paper
%A Poojitha, R.
%A Deepa, K.
%A Lekshmi, S.
%A Kannan, R.
%D 2023
%F scholars:19211
%I Institute of Electrical and Electronics Engineers Inc.
%K Acceleration; Disturbance rejection; Dynamical systems; MATLAB; Nonlinear dynamical systems; Proportional control systems; Robots; System stability; Two term control systems, Inverted pendulum; Linear quadratic; Linear-quadratic-regulator; Matlab simulations; Proportional integral derivatives; Proportional-integral-derivative; Proportional-integral-derivative & linear-quadratic-regulator; Quadratic regulators; Self-balancing robot, Inverted pendulum
%R 10.1109/ICDCECE57866.2023.10150784
%T Control of A Self-Balancing Robot Under a Disturbed Surface
%U https://khub.utp.edu.my/scholars/19211/
%X 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.
%Z cited By 0; Conference of 2nd IEEE International Conference on Distributed Computing and Electrical Circuits and Electronics, ICDCECE 2023 ; Conference Date: 29 April 2023 Through 30 April 2023; Conference Code:189672