Real-time implementation of different controllers for a two-wheeled inverted pendulum

Juan Villacrés; Michelle Viscaíno; Marco Herrera; Oscar Camacho

Real-time implementation of different controllers for a two-wheeled inverted pendulum

Juan Villacrés, Michelle Viscaíno, Marco Herrera, Oscar Camacho

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

This paper presents experimental results of three control strategies to stabilize a two-wheeled inverted pendulum. The control techniques used are PID, Linear-Quadratic Regulator (LQR), and Sliding Mode Control. The comparison results of the three controllers are for angular wheel position tracking, for external disturbances, and parameter uncertainties in the model. Tests are quantified in terms of Integral Square Error – ISE. For the experiments, the robot was constructed with LEGO Mindstorms NXT 2.0.

Original language	English
Pages (from-to)	281-290
Number of pages	10
Journal	International Journal of Circuits, Systems and Signal Processing
Volume	10
State	Published - 2016
Externally published	Yes

Keywords

LQR
PID
Robustness
Sliding mode control
Tracking

Cite this

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AU - Herrera, Marco

AU - Camacho, Oscar

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AB - This paper presents experimental results of three control strategies to stabilize a two-wheeled inverted pendulum. The control techniques used are PID, Linear-Quadratic Regulator (LQR), and Sliding Mode Control. The comparison results of the three controllers are for angular wheel position tracking, for external disturbances, and parameter uncertainties in the model. Tests are quantified in terms of Integral Square Error – ISE. For the experiments, the robot was constructed with LEGO Mindstorms NXT 2.0.

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KW - Robustness

KW - Sliding mode control

KW - Tracking

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JO - International Journal of Circuits, Systems and Signal Processing

JF - International Journal of Circuits, Systems and Signal Processing

ER -

Real-time implementation of different controllers for a two-wheeled inverted pendulum

Abstract

Keywords

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