Modelling and control of a balancing robot using digital state space approach
This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In o...
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| Format: | Thesis |
| Language: | English |
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2005
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| Online Access: | http://eprints.uthm.edu.my/3223/ http://eprints.uthm.edu.my/3223/1/HERDAWATIE%20ABDUL%20KADIR%20-%2024p.pdf |
| _version_ | 1848887963109294080 |
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| author | Abdul Kadir, Herdawatie |
| author_facet | Abdul Kadir, Herdawatie |
| author_sort | Abdul Kadir, Herdawatie |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform. |
| first_indexed | 2025-11-15T20:02:44Z |
| format | Thesis |
| id | uthm-3223 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:02:44Z |
| publishDate | 2005 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-32232021-11-02T02:09:28Z http://eprints.uthm.edu.my/3223/ Modelling and control of a balancing robot using digital state space approach Abdul Kadir, Herdawatie QA299.6-433 Analysis This thesis is concerned with the problems of modelling a complete mathematical model of a balancing robot and control the system using digital state space approach to pilots the motors so as to keep the system in equilibrium. The research work is undertaken in the following development stages. In order to analyze and design the control system the dynamic of model of the system was first established in discretetime. Then the difference equation approach is used to obtain the dynamic equations of an actual experimental test-rig. The dynamic of the DC motors as well as chassis and wheels of balancing robot are incorporated in the overall dynamic model, which is in the form of continuous state-space. Two type of controllers, namely pole placement controller and LQR controller are considered in this work. The performance and reliability of both controller will be determined by performing extensive simulation using MATLAB/SIMULINK as the platform. 2005-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/3223/1/HERDAWATIE%20ABDUL%20KADIR%20-%2024p.pdf Abdul Kadir, Herdawatie (2005) Modelling and control of a balancing robot using digital state space approach. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | QA299.6-433 Analysis Abdul Kadir, Herdawatie Modelling and control of a balancing robot using digital state space approach |
| title | Modelling and control of a balancing robot using digital state space approach |
| title_full | Modelling and control of a balancing robot using digital state space approach |
| title_fullStr | Modelling and control of a balancing robot using digital state space approach |
| title_full_unstemmed | Modelling and control of a balancing robot using digital state space approach |
| title_short | Modelling and control of a balancing robot using digital state space approach |
| title_sort | modelling and control of a balancing robot using digital state space approach |
| topic | QA299.6-433 Analysis |
| url | http://eprints.uthm.edu.my/3223/ http://eprints.uthm.edu.my/3223/1/HERDAWATIE%20ABDUL%20KADIR%20-%2024p.pdf |