| Issue |
MATEC Web Conf.
Volume 192, 2018
The 4th International Conference on Engineering, Applied Sciences and Technology (ICEAST 2018) “Exploring Innovative Solutions for Smart Society”
|
|
|---|---|---|
| Article Number | 02001 | |
| Number of page(s) | 4 | |
| Section | Track 2: Mechanical, Mechatronics and Civil Engineering | |
| DOI | https://doi.org/10.1051/matecconf/201819202001 | |
| Published online | 14 August 2018 | |
Design and simulate of LQR-Fuzzy controller for unicycle robot with double flywheels
Department of Mechatronics Engineering, Rajamangala University of Technology Thanyaburi, Thailand
*
Corresponding author : surachat_c@rmutt.ac.th
This research is focus on design and simulate unicycle robot with double flywheels model with LQR-Fuzzy controller. Roll balancing torque is generated by gyroscopic effect. Pitch balancing torque is applied by inverted pendulum concept. To control the heading of the robot, the angular momentum from both flywheel is applied to control this. The robot model is based on Euler-Lagrange equations. The non-linear model is linearization by Taylor series expansion. The simulation results conducted by MATLAB/Simulink. LQR-Fuzzy is combination algorithm between LQR and Fuzzy controller. The main structure control is the LQR controller and use the Fuzzy controller to adjust the close loop controller gain. The simulation results is simulated and compared with conventional LQR.
© The Authors, published by EDP Sciences, 2018
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