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Electrical Engineering and Systems Science > Systems and Control

arXiv:2309.14086 (eess)
[Submitted on 25 Sep 2023]

Title:A selection of PID type controller settings via LQR approach for two-wheeled balancing robot

Authors:Krzysztof Laddach, Mateusz Czyżniewski, Rafał Łangowski
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Abstract:The problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion has been investigated. Thus, the possibility of transforming optimal settings of the linear-quadratic regulator into the settings of the controller in the classical control system has been given. The presented methodology has been used during synthesis of control system for a two-wheeled balancing robot. Finally, the performance of the proposed control system has been validated by simulation in Matlab-Simulink environment with the use of a two-wheeled balancing robot model.
Comments: Conference paper
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2309.14086 [eess.SY]
  (or arXiv:2309.14086v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2309.14086
Journal reference: 2021 25th International Conference MMAR, Międzyzdroje, Poland, 2021, pp. 378-383
Related DOI: https://doi.org/10.1109/MMAR49549.2021.9528471.

Submission history

From: Krzysztof Laddach [view email]
[v1] Mon, 25 Sep 2023 12:29:53 UTC (10,778 KB)
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