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Robust Control Design of Wheeled Inverted Pendulum Assistant Robot |
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| Authors: | Magdi S Mahmoud Mohammad T Nasir |
| Affiliation: | Systems Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia |
| Abstract: | This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator (LQR), linear quadratic Gaussian control (LQG), H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results. |
| Keywords: | I-PENTAR robot linear quadratic regulator (LQR) control design model predictive control (MPC) observerbased feedback control robust H∞ control |
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