Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot
Abstract
:1. Introduction
2. Dynamic Model of the Mobile Robot
3. Design and Assembly of the Mobile Robot with Five Degrees of Freedom
4. Motors Control of the Mobile Robot
Torque Equation
5. Optimal Stabilization
5.1. State Variables Model of Mobile Robot
5.2. Optimal Control for Systems with Disturbances
6. Robust Detector for Systems with Disturbances
Synthesis of a Robust Detector for Disturbances
7. Optimal Control Design Based on a Disturbance Detector to Stabilize the Mobile Robot
Simulations
8. Real-Time Experimentation
9. Conclusions
Author Contributions
Funding
Conflicts of Interest
Appendix A. Control Systems
Appendix B. Matrices of the Mobile Robot Non-Lnear Model
Appendix C. Numerical Matrices of the Mobile Robot
Appendix D. Optimal Controller Based on Disturbance Detector vs. PD Controller
Abbreviations
PID | Proportional-Integral-Derivative |
PD | Proportional-Derivative |
LQR | Linear Quadratic Regulator |
CG | Center of Gravity |
CM | Center of Mass |
PLA | Polylactic Acid |
RPM | Revolutions per minute |
EMF | Electromotive Force |
PWM | Pulse Width Modulation |
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Parameter | Description | Value |
---|---|---|
Length to CG of link 1 | 10 cm | |
Length to CG of link 2 | 7.5 cm | |
Length to CG of link 3 | 5 cm | |
Mass of link 1 | 663 g | |
Mass of link 2 | 290 g | |
Mass of link 3 | 205 g | |
Mass of the wheel | 53 g | |
Radius of the wheel | 3.4 cm | |
H | Distance between the wheels | 25.5 cm |
Moment of inertia around the CM of link 1 | 22,100 gcm | |
Moment of inertia around the CM of link 2 | 5437.5 gcm | |
Moment of inertia around the CM of link 3 | 1708.3 gcm | |
Moment of inertia of the wheel | 306.34 gcm |
Motor 1 | ||||||
Motor 2 | ||||||
Motor 3 | ||||||
Motor 4 | ||||||
Motor 5 |
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Jordán-Martínez, L.A.; Figueroa-García, M.G.; Pérez-Cruz, J.H. Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot. Electronics 2020, 9, 1821. https://doi.org/10.3390/electronics9111821
Jordán-Martínez LA, Figueroa-García MG, Pérez-Cruz JH. Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot. Electronics. 2020; 9(11):1821. https://doi.org/10.3390/electronics9111821
Chicago/Turabian StyleJordán-Martínez, Luis Alfonso, Maricela Guadalupe Figueroa-García, and José Humberto Pérez-Cruz. 2020. "Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot" Electronics 9, no. 11: 1821. https://doi.org/10.3390/electronics9111821
APA StyleJordán-Martínez, L. A., Figueroa-García, M. G., & Pérez-Cruz, J. H. (2020). Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot. Electronics, 9(11), 1821. https://doi.org/10.3390/electronics9111821