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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA) Jurnal Edukasi dan Penelitian Informatika (JEPIN) Proceeding of the Electrical Engineering Computer Science and Informatics Al-Khidmah Yaa Bunayya : Jurnal Pendidikan Anak Usia Dini Wood Research Journal : Journal of Indonesian Wood Research Society Wood Research Journal : Journal of Indonesian Wood Research Society Jurnal Rekayasa elektrika
Hadary, Ferry
Engineering Faculty, Tanjungpura University Pontianak, West-Kalimantan,
Agriculture, Biological Sciences & Forestry Arts Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Social Sciences Other

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Journal : International Journal of Electrical and Computer Engineering

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Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot Modestus Oliver Asali; Ferry Hadary; Bomo Wibowo Sanjaya
International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 4: August 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (30.704 KB) | DOI: 10.11591/ijece.v7i4.pp2008-2017

Abstract

Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Co-Authors Achmadi Achmadi Ade Elbani Ade Mirza Afrizal - Agustina Listiawati Ahmad Dzakiyuddin Muhaimin Aktris Nuryanti, Aktris Alhadiansyah Andi Ihwan Asep Nursangaji Aswandi - Bistari Bomo Wibowo Sanjaya Desni Yuniarni Desni Yuniarni Desti Mawarni Dwi Zulfita Edy Suasono Elly Suharlina Erni Djun Astuti Eva Dolorosa Farah Diba Fitri Imansyah Hamdani - Handri Jir Azhar Herry Sujaini Imam Ghozali Ismawartati - Meiran Panggabean Memet Agustiar Mochammad Meddy Danial Modestus Oliver Asali Muanuddin - Muhammad Yusuf Muhsin Muhsin Ningsih, Kurnia Nurmainah - Ochih Saziati Pratama, Rizki Wahyu Priyo Saptomo Purwaningsih - Rachmawati Rahmidiyani - Ratna Herawatiningsih Reine Suci Wulandari Riduansyah - Rizki Wahyu Pratama Rommy Patra Sarma Siahaan Seno Darmawan Panjaitan Setia Budi Sholva, Yus Silvia Uslianti Siti Hadijah Siti Halidjah Stepanus Sahala Sitompul Surachman - Sy. Hasyim Azizurrahman Syaifurrahman Syaifurrahman Syamswisna , Tamaulina Br Sembiring Tsuyoshi Yoshimura Uti Asikin Vivi Bachtiar Wendy Windhu Putra Witarsa - Yohanes Gatot Sutapa Yuline - Yulis Jamiah Zubaidah R