Modelling and control of a balancing robot using digital state space approach

This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In o...

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Bibliographic Details
Main Author:	Abdul Kadir, Herdawatie
Format:	Thesis
Language:	English
Published:	2005
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf
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id	my-utm-ep.2721
record_format	uketd_dc
spelling	my-utm-ep.27212018-06-25T00:41:01Z Modelling and control of a balancing robot using digital state space approach 2005-11 Abdul Kadir, Herdawatie TK Electrical engineering. Electronics Nuclear engineering This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform 2005-11 Thesis http://eprints.utm.my/id/eprint/2721/ http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Abdul Kadir, Herdawatie Modelling and control of a balancing robot using digital state space approach
description	This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform
format	Thesis
qualification_level	Master's degree
author	Abdul Kadir, Herdawatie
author_facet	Abdul Kadir, Herdawatie
author_sort	Abdul Kadir, Herdawatie
title	Modelling and control of a balancing robot using digital state space approach
title_short	Modelling and control of a balancing robot using digital state space approach
title_full	Modelling and control of a balancing robot using digital state space approach
title_fullStr	Modelling and control of a balancing robot using digital state space approach
title_full_unstemmed	Modelling and control of a balancing robot using digital state space approach
title_sort	modelling and control of a balancing robot using digital state space approach
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2005
url	http://eprints.utm.my/id/eprint/2721/1/HerdawatieAbdulKadirMFKE2005.pdf
_version_	1747814427293384704

Modelling and control of a balancing robot using digital state space approach

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