Design and experimental evaluation of robust controllers for a two-wheeled robot. Issue 11 (1st November 2016)

• Record Type: Journal Article
• Authors: Kralev, J.; Slavov, Ts.; Petkov, P.
• Is Part Of: International journal of control. Volume 89:Issue 11(2016)
• Page Start: 2201
• Page End: 2226
• Publication Date: 2016-11-01
• Subjects: Robust control -- two-wheeled robot -- real-time control -- embedded systems -- digital signal processors; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1151940
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: The paper presents the design and experimental evaluation of two alternative μ-controllers for robust vertical stabilisation of a two-wheeled self-balancing robot. The controllers design is based on models derived by identification from closed-loop experimental data. In the first design, a signal-based uncertainty representation obtained directly from the identification procedure is used, which leads to a controller of order 29. In the second design the signal uncertainty is approximated by an input multiplicative uncertainty, which leads to a controller of order 50, subsequently reduced to 30. The performance of the two μ-controllers is compared with the performance of a conventional linear quadratic controller with 17th-order Kalman filter. A proportional-integral controller of the rotational motion around the vertical axis is implemented as well. The control code is generated using Simulink® controller models and is embedded in a digital signal processor. Results from the simulation of the closed-loop system as well as experimental results obtained during the real-time implementation of the designed controllers are given. The theoretical investigation and experimental results confirm that the closed-loop system achieves robust performance in respect to the uncertainties related to the identified robot model.