Design Approach of Weighting Matrices for Optimal Controller Design for Autonomous Mobile Robot

被引：0
|
作者：
Khatoon, Shahida [1 ]
Ibraheem [1 ]
Naz, Kaukab [1 ]
机构：
[1] Jamia Millia Islamia, Fac Engn & Technol, Dept Elect Engn, New Delhi 110025, India
来源：
2014 6th IEEE Power India International Conference (PIICON) | 2014年
关键词：
Two Wheeled inverted pendulum (T-WIP) System; LQR Control; Error weighting matrix Q; Control weighting matrix R;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
In this research work, the objective is to investigate the suitability and examine the performance of linear control systems like the linear Quadratic Regulator in stabilizing the system and the effect of choosing error weighting matrix Q and Control weighting matrix R. This approach is based on approximate reasoning and knowledge based control. A mathematical model of prototype Agentis derived and subsequently A Linear Quadratic Regulator (LQR) is evaluated for controlling and stabilizing the system.
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页数：6
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