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Optimal controller design for self-balancing two-wheeled robot system

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dc.contributor.coauthorZohaib, Adil
dc.contributor.coauthorHussain, Syed Shahzad
dc.contributor.departmentN/A
dc.contributor.departmentN/A
dc.contributor.kuauthorZad, Haris Sheh
dc.contributor.kuauthorUlasyar, Abasin
dc.contributor.kuprofilePhD Student
dc.contributor.kuprofileResearcher
dc.contributor.researchcenterN/A
dc.contributor.researchcenterManufacturing and Automation Research Center (MARC)
dc.contributor.schoolcollegeinstituteGraduate School of Sciences and Engineering
dc.contributor.schoolcollegeinstituteN/A
dc.contributor.yokidN/A
dc.contributor.yokidN/A
dc.date.accessioned2024-11-10T00:05:31Z
dc.date.issued2017
dc.description.abstractIn this paper an optimal controller is designed for a self-balancing two-wheeled robot system based on the robust Model Predictive Control (MPC) scheme. The MPC controller computes the trajectory of the manipulated variable in order to optimize the behavior of the system future output. A limited time window is used for the optimization described by the length of time and initial time. By minimizing the cost function, the optimal control is found within the moving window. The proposed controller is simulated using Matlab/Simulink. Performance of the optimal controller based on MPC scheme is compared with that of a PID controller. The simulation results show better stability and improved reference position tracking for the MPC based optimal controller with good robustness against the perturbations in the system model.
dc.description.indexedbyWoS
dc.description.indexedbyScopus
dc.description.openaccessYES
dc.description.publisherscopeInternational
dc.identifier.doi10.1109/FIT.2016.011
dc.identifier.isbn9781-5090-5300-1
dc.identifier.linkhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85026865034&doi=10.1109%2fFIT.2016.011&partnerID=40&md5=676321efbc4c774ec74c43a2f70a2f40
dc.identifier.scopus2-s2.0-85026865034
dc.identifier.urihttp://dx.doi.org/10.1109/FIT.2016.011
dc.identifier.urihttps://hdl.handle.net/20.500.14288/16462
dc.identifier.wos400828300003
dc.keywordsModel Predictive Controller (MPC)
dc.keywordsPID controller
dc.keywordsSelf-balancing two-wheeled robot
dc.languageEnglish
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.sourceProceedings - 14th International Conference on Frontiers of Information Technology, FIT 2016
dc.subjectComputer Science
dc.subjectArtificial intelligence
dc.subjectEngineering
dc.titleOptimal controller design for self-balancing two-wheeled robot system
dc.typeConference proceeding
dspace.entity.typePublication
local.contributor.authorid0000-0002-4291-288X
local.contributor.authorid0000-0003-3258-7064
local.contributor.kuauthorZad, Haris Sheh
local.contributor.kuauthorUlasyar, Abasin

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