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.

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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.

Item Type:	Book Section
Additional Information:	10-11 December 2021, Melaka, Malaysia. © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
Identification Number:	https://doi.org/10.1109/ICSPC53359.2021.9689177
Page Range:	13-18
SWORD Depositor:	Symplectic Elements
Depositing User:	Symplectic Elements
Date Deposited:	27 Apr 2022 14:23
Last Modified:	27 Apr 2022 14:30
URI:	https://shura.shu.ac.uk/id/eprint/30121

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