Robust motion control of a two wheel mobile robot

Robust motion control of a two wheel mobile robot

This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is used to achieve stability and good...

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Main Author: Kanjou, Osama
Format: Thesis
Published: 2014
Subjects:
TJ Mechanical engineering and machinery
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spelling my-utm-ep.422032020-08-17T02:45:56Z Robust motion control of a two wheel mobile robot 2014 Kanjou, Osama TJ Mechanical engineering and machinery This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is used to achieve stability and good dynamic performance. The Qparameter is designed such that it characterizes the set of all stabilizing controllers for the " Two-Wheeled Inverted Pendulum" (TWIP) system. the choice and design of the Q-Parameter is based on the system behavior constraining. the work is carried out in three stages. First, the derivation of the mathematical model for the " Two- Wheeled Inverted Pendulum" (TWIP) system. second the design methodology of the proposed Q-Parameterization controller is presented. finally a simulation process is carried out to evaluate the resulting controller and its performance. For comparison purposes an LQR controller are designed and the results were carried out. 2014 Thesis http://eprints.utm.my/id/eprint/42203/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:78073 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Kanjou, Osama
Robust motion control of a two wheel mobile robot
description This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is used to achieve stability and good dynamic performance. The Qparameter is designed such that it characterizes the set of all stabilizing controllers for the " Two-Wheeled Inverted Pendulum" (TWIP) system. the choice and design of the Q-Parameter is based on the system behavior constraining. the work is carried out in three stages. First, the derivation of the mathematical model for the " Two- Wheeled Inverted Pendulum" (TWIP) system. second the design methodology of the proposed Q-Parameterization controller is presented. finally a simulation process is carried out to evaluate the resulting controller and its performance. For comparison purposes an LQR controller are designed and the results were carried out.
format Thesis
qualification_level Master's degree
author Kanjou, Osama
author_facet Kanjou, Osama
author_sort Kanjou, Osama
title Robust motion control of a two wheel mobile robot
title_short Robust motion control of a two wheel mobile robot
title_full Robust motion control of a two wheel mobile robot
title_fullStr Robust motion control of a two wheel mobile robot
title_full_unstemmed Robust motion control of a two wheel mobile robot
title_sort robust motion control of a two wheel mobile robot
granting_institution Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department Faculty of Electrical Engineering
publishDate 2014
_version_ 1747816714867834880

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