OTHER
Control of TWIR using LQR Controller and Compound Disturbance Observer
Khanh G. Tran, Tuan Thanh Nguyen, Toi Q. Pham, Nguyễn Duy Phương, Duc V. Nguyen, Phuong Anh Nguyen, Hoang M. Pham, Phuoc Doan Nguyen, Nam Hoai Nguyen
- Year
- 2021
- Citations
- 2
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.
Keywords
Control theory (sociology)Disturbance (geology)Inverted pendulumController (irrigation)Computer scienceControl engineeringObserver (physics)EngineeringControl (management)Artificial intelligence
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