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All Journal Journal of Fuzzy Systems and Control (JFSC)
Do, Quoc-Thinh
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Modeling and Optimal Control for Two-Wheeled Self-Balancing Robot Do, Quoc-Thinh; Tran, Van-Thanh; Ngo, Minh-Thai; Tran, Minh-Quan; Thiem, Quan-Linh; Nguyen, Hoang-Son; Pham, Ba-Khoi; Phan, Nguyen-Phuoc-An; Nguyen, Duy-Hieu; Nguyen, Duc-Hoc; Nguyen, Van-Hoc; Tran, Ho-Minh-Quang; Le, ThiHongLam
Journal of Fuzzy Systems and Control Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i1.162

Abstract

The two-wheeled self-balancing robot based on an inverted pendulum model is a nonlinear object with uncertain parameters that are difficult to control with 6 state variables. This is a multiple input-multiple output (MIMO) under-actuated system that is very complex and causes many challenges for the operator. This paper analyzed the mathematical equation of a two-wheeled self-balancing robot vehicle system. Then, the Linear Quadratic Regulator (LQR) control is applied to the system through simulation on Matlab/Simulink and experiment. The results show that the LQR algorithm has been successfully applied in many moving cases.
Co-Authors Le, ThiHongLam Ngo, Minh-Thai Nguyen, Duc-Hoc Nguyen, Duy-Hieu Nguyen, Hoang-Son Nguyen, Van-Hoc Pham, Ba-Khoi Phan, Nguyen-Phuoc-An Thiem, Quan-Linh Tran, Ho-Minh-Quang Tran, Minh-Quan Tran, Van-Thanh