Abstract
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator (LQR), linear quadratic Gaussian control (LQG), H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.
| Original language | English |
|---|---|
| Article number | 8039021 |
| Pages (from-to) | 628-638 |
| Number of pages | 11 |
| Journal | IEEE/CAA Journal of Automatica Sinica |
| Volume | 4 |
| Issue number | 4 |
| DOIs | |
| State | Published - Oct 2017 |
Bibliographical note
Publisher Copyright:© 2014 Chinese Association of Automation.
Keywords
- I-PENTAR robot
- linear quadratic regulator (LQR) control design
- model predictive control (MPC)
- observerbased feedback control
- robust H control
ASJC Scopus subject areas
- Control and Systems Engineering
- Information Systems
- Artificial Intelligence