eprintid: 19211
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/01/92/11
datestamp: 2024-06-04 14:11:40
lastmod: 2024-06-04 14:11:40
status_changed: 2024-06-04 14:05:10
type: conference_item
metadata_visibility: show
creators_name: Poojitha, R.
creators_name: Deepa, K.
creators_name: Lekshmi, S.
creators_name: Kannan, R.
title: Control of A Self-Balancing Robot Under a Disturbed Surface
ispublished: pub
keywords: 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
note: 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
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. © 2023 IEEE.
date: 2023
publisher: Institute of Electrical and Electronics Engineers Inc.
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85164261299&doi=10.1109%2fICDCECE57866.2023.10150784&partnerID=40&md5=cad3ca2e81f6954d165f7380ba2c3b89
id_number: 10.1109/ICDCECE57866.2023.10150784
full_text_status: none
publication: 2nd IEEE International Conference on Distributed Computing and Electrical Circuits and Electronics, ICDCECE 2023
refereed: TRUE
isbn: 9798350347456
citation:   Poojitha, R. and Deepa, K. and Lekshmi, S. and Kannan, R.  (2023) Control of A Self-Balancing Robot Under a Disturbed Surface.  In: UNSPECIFIED.