Design of an Advanced Control System for an Inverted Wheeled Robot

Abstract

The inverted pendulum is a system widely used in engineering education because it is fast, high-order, multivariable, under-actuated that combines non-linearity, intrinsic instability, and strong coupling. However, this system is usually treated as ideal in the design of the controllers, complications of the physical implementation of the system are not taken into accounts, such as disturbances, noise in sensors and actuators, no oversizing of the actuator and starting conditions. The present paper propose the design of Robust control strategies based on the loop shaping technique and a linear quadratic Gaussian control (LQG) applied to an inverted pendulum on two wheels, which works only in one plane, proposes a controller design methodology that takes into account the effects of the complications of the physical world raised above.