Journal of Fuzzy Systems and Control (JFSC)
Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024

Modeling and Optimal Control for Two-Wheeled Self-Balancing Robot

Do, Quoc-Thinh (Unknown)
Tran, Van-Thanh (Unknown)
Ngo, Minh-Thai (Unknown)
Tran, Minh-Quan (Unknown)
Thiem, Quan-Linh (Unknown)
Nguyen, Hoang-Son (Unknown)
Pham, Ba-Khoi (Unknown)
Phan, Nguyen-Phuoc-An (Unknown)
Nguyen, Duy-Hieu (Unknown)
Nguyen, Duc-Hoc (Unknown)
Nguyen, Van-Hoc (Unknown)
Tran, Ho-Minh-Quang (Unknown)
Le, ThiHongLam (Unknown)

Article Info

Publish Date
01 Mar 2024

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.

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Journal Info
Journal of Fuzzy Systems and Control (JFSC)
Website

Abbrev

jfsc

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Description

Journal of Fuzzy Systems and Control is an international peer review journal that published papers about Fuzzy Logic and Control Systems. The Journal of Fuzzy Systems and Control should encompass original research articles, review articles, and case studies that contribute to the advancement of the ...