Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair

• Main Authors: Ahmad, Salmiah, Tokhi, M. Osman
• Format: Conference or Workshop Item
• Language: English
• Published: 2011
• Subjects: TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/2038/1/SalmiahAhmad_ICOM11.pdf; http://irep.iium.edu.my/2038/; http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5937119&queryText%3DLinear+quadratic+regulator+.LB.LQR.RB.+approach+for+lifting+and+stabilizing+of+two+wheeledchair%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchFie
• Institution: Universiti Islam Antarabangsa Malaysia

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of m...