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

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

9 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	281-290
Número de páginas	10
Publicación	International Journal of Circuits, Systems and Signal Processing
Volumen	10
Estado	Publicada - 2016
Publicado de forma externa	Sí

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

@article{190a3b0f5f0042c29778d70ee94edcd8,

title = "Real-time implementation of different controllers for a two-wheeled inverted pendulum",

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.",

keywords = "LQR, PID, Robustness, Sliding mode control, Tracking",

author = "Juan Villacr{\'e}s and Michelle Visca{\'i}no and Marco Herrera and Oscar Camacho",

year = "2016",

language = "Ingl{\'e}s",

volume = "10",

pages = "281--290",

journal = "International Journal of Circuits, Systems and Signal Processing",

issn = "1998-4464",

}

TY - JOUR

T1 - Real-time implementation of different controllers for a two-wheeled inverted pendulum

AU - Villacrés, Juan

AU - Viscaíno, Michelle

AU - Herrera, Marco

AU - Camacho, Oscar

PY - 2016

Y1 - 2016

N2 - 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.

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.

KW - LQR

KW - PID

KW - Robustness

KW - Sliding mode control

KW - Tracking

UR - http://www.scopus.com/inward/record.url?scp=84975223556&partnerID=8YFLogxK

M3 - Artículo

AN - SCOPUS:84975223556

SN - 1998-4464

VL - 10

SP - 281

EP - 290

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

Resumen

Otros archivos y enlaces

Huella

Citar esto