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Transactions: WSEAS TRANSACTIONS ON MATHEMATICS
Transactions ID Number: 53-587
Full Name: Aref Shahmansoorian
Position: Assistant Professor
Age: ON
Sex: Male
Address: Iran, ghazvin, Imam khomeini international university
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E-mail address: shahmansoorian@ikiu.ac.ir
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Title of the Paper: Controller Design for Two-wheels Mobile Robot Using Parallel Distributed Compensation and Fuzzy Linear Quadratic Regulator
Authors as they appear in the Paper: Rasool Kahani, Aref Shahmansoorian
Email addresses of all the authors: Rasool.kahani65@gmail.comm, Shahmansoorian@ikiu.ac.ir
Number of paper pages: 10
Abstract: The research on two-wheels inverted pendulum or commonly call balancing robot has gained over the last decade in the number of robotic laboratories around the world. This paper, in the first step, deals with the modeling of the mentioned system using Lagrange method and the final model is represented in state-space form. Then Parallel Distributed Compensation (PDC) controller is designed for this Multi Input Multi Output (MIMO) system. The stability condition of whole system is shown by employing the Linear Matrix Inequality (LMI) approach. At the end to access the minimum error between the set-point and the output and to obtain the best performance in the control signal, Fuzzy Linear Quadratic Regulator (FLQR) controller that have already been introduced for Single Input Single Output (SISO) model, is designed for it. Two computer simulations are presented to show the effectiveness of the proposed control methods.
Keywords: Parallel Distributed Compensation, Linear Matrix Inequality, Fuzzy Linear Quadratic Regulator
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