Order Diminution of Bicycle-Robot Controller by Exploiting Markov-Parameters based Error-Minimization Using Jaya Algorithm

Abstract

In this proposal, order diminution of self-balanced linear-momentum based bicycle-robot (LMBR) controller is proposed with the help of time-moments (TMs) and Markov-parameters (MPs) of higher-order (HO) LMBR controller and its desired reduced-order (RO) model by utilizing jaya algorithm. Firstly, the TMs and MPs of HO LMBR controller and its RO model are obtained. The TMs of HO LMBR controller and RO model are exploited for steady state matching. The MPs are utilized to construct the objective function which is weighted summation of errors in between MPs of HO LMBR controller and RO model. The framed objective function is minimized with the help of jaya algorithm. The minimization of errors between MPs of HO LMBR controller and RO model are done for ascertainment of unknown coefficients of desired RO model. The proposed RO model for HO LMBR controller is compared with the model obtained by exploiting other order reduction methods available in the literature.