Abstract. In this paper, two-wheeled self-balancing robot problem is introduced, and a quasi-time-optimal approach is applied to synthesize the control law. The result is compared with that of other methods. The process for designing and building the testting model, implementing the synthesized control law is also described.
The magnetic levitation system is a typical system with many successful applications in practice. Due to the inherent instability and strong open-loop nonlinearity of the MLS, a controller is used to control the stability of the magnetic levitation system. With the rapid development of embedded systems, the intelligent digital control has begun to replace conventional analog control technology creating a new approach to the control MLS. This paper proposes a hardware module for the MLS based on a digital signal processor combined with a fast acting controller to ensure system stability even with incomplete mathematical models. The simulation and experimental results are compared with the linearized feedback control law. Finally, experiments are carried out to test the practical feasibility of the proposed control laws in the MLS embedded control system. The system, with the recommended controller, well responds to the tolerances allowing for stable system working. Both simulation and test results are included in this paper to show that the fast acting suboptimal controller has the advantage of being more durable and less complicated to perform in MLS control applications.
In this paper, a methodology for designing quasi-time optimal cascade controller for ball and beam system is presented and the result is compared with LQR method as well as implemented on real system. Ball and beam system is a highly non-linear system, its parameters are difficult to estimate accurately and easily affect by disturbance. In designed method, a mathematical model describing the system is built, including a motor that creates a rotation of beam and is divided into two subsystems when synthesizing the cascade controller for the system. The first floor is the beam subsystem with the output is the angle as the set value for the second floor, which is ball subsystem. The controller is synthesized for each subsystem based on the quasi-time optimal control. The advantage of this method is the synthesizing control law with non-linear system. The simulation results show the effectiveness of the proposed design.
In the paper, we present a method of synthesizing the controller with optimum energy for two-wheeled self-balancing vehicles, based on the multi-purpose consumption function. The authors select the multi-purpose consumption function based on the quasi-optimality and minimum of energy. The synthesis of control laws based on the analytical design of aggregated controllers (ADAR) with manifold of quasi-optimality. The results of the proposed method are simulated and compared to other methods.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.