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PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode

Aula, Abqori and Ahmad, Salmiah and Akmeliawati, Rini (2015) PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah.

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Abstract

In this paper, the state feedback control design problem for stabilizing a two-wheeled wheelchair in balancing mode is considered. The system is modeled as double-inverted pendulum on two wheels. The calculation of state feedback control gains is conventionally handled by LQR method via Riccati equation. Unfortunately, the method still possesses trial and error approach when choosing some parameters, in particular tuning the elements of Q and R weighting matrices. Therefore, an intelligent numerical method to resolve this problem is proposed by adopting PSO algorithm. The simulation work is carried out to evaluate the effectiveness of the proposed method. The result shows that the numerical method reduces tuning time and improves the performance of the system.

Item Type: Conference or Workshop Item (Invited Papers)
Additional Information: 4113/45170
Uncontrolled Keywords: two-wheeled wheelchair; state feedback control; LQR; PSO; optimization
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Salmiah Ahmad
Date Deposited: 19 Nov 2015 14:36
Last Modified: 18 Sep 2017 17:37
URI: http://irep.iium.edu.my/id/eprint/45170

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