Khanh G. Tran, T. T. Nguyen, Toi Q. Pham, P. D. Nguyen, Duc V. Nguyen, P. Nguyen, Hoang M. Pham, P. D. Nguyen, NamHoai Nguyen
{"title":"Control of TWIR using LQR Controller and Compound Disturbance Observer","authors":"Khanh G. Tran, T. T. Nguyen, Toi Q. Pham, P. D. Nguyen, Duc V. Nguyen, P. Nguyen, Hoang M. Pham, P. D. Nguyen, NamHoai Nguyen","doi":"10.1109/ICA-SYMP50206.2021.9358452","DOIUrl":null,"url":null,"abstract":"In this paper, a LQR controller in combination with compound disturbance observer was designed and applied for a two-wheeled inverted pendulum robot (TWIR) in laboratory. The experimental results showed that the designed controller was able to handle with model's uncertainty and unknown input disturbance.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358452","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, a LQR controller in combination with compound disturbance observer was designed and applied for a two-wheeled inverted pendulum robot (TWIR) in laboratory. The experimental results showed that the designed controller was able to handle with model's uncertainty and unknown input disturbance.