Acceleration Feedback Controller Processor Design of a Segway

Ronal, P.; Ch, Ravinesh; Assaf, Mansour H.; Narayan, Shailendra V.; Naicker, Parmesh R.; Kapadia, Vimi

doi:10.1109/spec55080.2022.10058415

Cited by 4 publications

(2 citation statements)

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“…The study of dynamic modelling and equilibrium state control algorithms for the RIP systems is crucial in advanced technological sectors, especially in aerospace industry. Moreover, the progress in this field has found extensive application in daily life, as demonstrated by the steady-state control mechanisms used in Segway [3], bipedal robots [4], and skyscrapers [5]. Furthermore, the control principle of cranes [6] and offshore drilling platforms [7] share similarities with the model when the pendulum is suspended.…”

Section: Introductionmentioning

confidence: 99%

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

Gao,

Xu,

Huang

et al. 2024

CMES

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The Rotary Inverted Pendulum (RIP) is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge. Despite the implementation of various control strategies to maintain equilibrium, optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive. Existing methods frequently rely on extensive experimental data or the designer's expertise, presenting a notable drawback. This paper proposes a novel tracking control approach for RIP, utilizing a Linear Quadratic Regulator (LQR) in combination with a reduced-order observer. Initially, the RIP system is mathematically modeled using the Newton-Euler-Lagrange method. Subsequently, a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states. This approach enhances the controller's robustness by eliminating differential terms from the observer, thereby attenuating unknown disturbances. Thorough numerical simulations and experimental evaluations demonstrate the system's capability to maintain balance below 50 Hz and achieve precise tracking below 1.4 rad, validating the effectiveness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

Gao,

Xu,

Huang

et al. 2024

CMES

View full text Add to dashboard Cite

show abstract

“…This research uses the Lyapunov-based control scheme (LbCS), is applied widely in robotics, especially in the analysis of motion planning and control problems [41] , [42] , [43] . It is a type of Artificial Potential Field method that uses the Lyapunov function or total potentials to design appropriate velocity or acceleration-based controllers that guide the robots to their designated goals.…”

Section: Introductionmentioning

confidence: 99%