Position tracking controllers for two wheeled inverted pendulum robot

Position tracking controllers for two wheeled inverted pendulum robot

This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelli...

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Main Authors: Bature, Amir, Buyamin, Salinda, Ahmad, Mohamad Noh, Muhammad, Mustapha R.
Format: Article
Published: 2014
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/54532/
http://dx.doi.org/10.4028/www.scientific.net/AMM.554.660
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Institution: Universiti Teknologi Malaysia
id my.utm.54532
record_format eprints
spelling my.utm.545322017-09-12T08:11:44Z http://eprints.utm.my/id/eprint/54532/ Position tracking controllers for two wheeled inverted pendulum robot Bature, Amir Buyamin, Salinda Ahmad, Mohamad Noh Muhammad, Mustapha R. TK Electrical engineering. Electronics Nuclear engineering This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelligent controller are designed and simulated and the performances of the two controllers are compared. The FLC shows better performance than the LQR controller. 2014 Article PeerReviewed Bature, Amir and Buyamin, Salinda and Ahmad, Mohamad Noh and Muhammad, Mustapha R. (2014) Position tracking controllers for two wheeled inverted pendulum robot. Applied Mechanics and Materials, 554 . pp. 660-664. ISSN 1660-9336 http://dx.doi.org/10.4028/www.scientific.net/AMM.554.660
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Bature, Amir
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha R.
Position tracking controllers for two wheeled inverted pendulum robot
description This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelligent controller are designed and simulated and the performances of the two controllers are compared. The FLC shows better performance than the LQR controller.
format Article
author Bature, Amir
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha R.
author_facet Bature, Amir
Buyamin, Salinda
Ahmad, Mohamad Noh
Muhammad, Mustapha R.
author_sort Bature, Amir
title Position tracking controllers for two wheeled inverted pendulum robot
title_short Position tracking controllers for two wheeled inverted pendulum robot
title_full Position tracking controllers for two wheeled inverted pendulum robot
title_fullStr Position tracking controllers for two wheeled inverted pendulum robot
title_full_unstemmed Position tracking controllers for two wheeled inverted pendulum robot
title_sort position tracking controllers for two wheeled inverted pendulum robot
publishDate 2014
url http://eprints.utm.my/id/eprint/54532/
http://dx.doi.org/10.4028/www.scientific.net/AMM.554.660
_version_ 1643653530275282944

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