|Autors: Slavov, T. N., Petkov, P. H., Kralev J.K.|
Title: LINEAR-QUADRATIC CONTROL OF A TWO-WHEELED ROBOT
Keywords: real-time control, two-wheeled robot, LQR control, embed- ded system, digital signal processor
Abstract: In this paper we present the design and experimentation of a control system of two-wheeled robot which implements a Linear-Quadratic Regulator (LQR) for vertical stabilization and a proportional-integral (PI) controller of the robot rotation around the vertical axis. Due to the lack of accurate analytical robot model, the control system design is done by using a model built with the aid of an identification procedure. Two discrete-time Kalman filters of 17th order and of 2nd order are implemented to estimate the plant state in presence of several noises. A software in MATLAB® /Simulink® environment is developed for generation of control code which is embedded in the Texas Instruments Digital Signal Controller TMS320F28335. Results from the simulation of the closed-loop system as well as experimental results obtained during the real implementation of the controller designed are given.
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Вид: статия в списание, публикация в издание с импакт фактор
Въведена от: проф. д.т.н. Петко Христов Петков