TY - JOUR
T1 - Modeling and optimal controller based on disturbance detector for the stabilization of a three-link inverted pendulum mobile robot
AU - Jordán-Martínez, Luis Alfonso
AU - Figueroa-García, Maricela Guadalupe
AU - Pérez-Cruz, José Humberto
N1 - Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2020/11
Y1 - 2020/11
N2 - This work presents the realization of a complicated stabilization problem for a three inverted pendulum links-based mobile robot. The actuators of the mobile robot are direct current motors that have tachometer couplings to measure both the position and speed of the wheels and links. Using direct measurements under load and analyzing the deceleration curve, the motor parameters are determined experimentally. A mathematical model of the robot is obtained via the Euler–Lagrange equations. Next, the nonlinear model is linearized and discretized. Based on this discrete LTI model, an optimal controller is designed. The states and disturbances are estimated using a robust detector. Both the controller and detector are implemented in the robot processor. Numerical simulations and experimental tests show a good performance of the controller despite the presence of disturbances.
AB - This work presents the realization of a complicated stabilization problem for a three inverted pendulum links-based mobile robot. The actuators of the mobile robot are direct current motors that have tachometer couplings to measure both the position and speed of the wheels and links. Using direct measurements under load and analyzing the deceleration curve, the motor parameters are determined experimentally. A mathematical model of the robot is obtained via the Euler–Lagrange equations. Next, the nonlinear model is linearized and discretized. Based on this discrete LTI model, an optimal controller is designed. The states and disturbances are estimated using a robust detector. Both the controller and detector are implemented in the robot processor. Numerical simulations and experimental tests show a good performance of the controller despite the presence of disturbances.
KW - Inverted pendulum type mobile robot
KW - Optimal controller based on disturbance detector
KW - Stabilization control
UR - http://www.scopus.com/inward/record.url?scp=85094919572&partnerID=8YFLogxK
U2 - 10.3390/electronics9111821
DO - 10.3390/electronics9111821
M3 - Artículo
AN - SCOPUS:85094919572
SN - 2079-9292
VL - 9
SP - 1
EP - 20
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 11
M1 - 1821
ER -