Controllability Study of Two-Wheel Robot for Nonlinear Optimal Control and Implementation

KOKKRATHOKE, S and XU, Xu (2022). Controllability Study of Two-Wheel Robot for Nonlinear Optimal Control and Implementation. In: 2021 IEEE 9th Conference on System, Process and Control (ICSPC 2021). IEEE, 13-18. [Book Section]

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Abstract
This paper presents the benefits of controllability study, used to facilitate the implementation of a nonlinear optimal controller. The controllability technique can be applied to investigate the controllable ranges of different state-space models from the same physical system. Once the controllability of each mathematical model is established, controllable parts from different models are selected to build a new joint model before implementing the nonlinear freezing optimal control and extended Kalman filter. When applied to a two-wheel LEGO EV3 robot, the novel mixing model demonstrates excellent stabilising control results compared against both previous models by: 1) producing smoother transient behaviour with less oscillations and 2) demonstrating a broader initial pitch angle range for stabilisation using a nonlinear optimal controller.
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