Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of m...

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Bibliographic Details
Main Authors:	Ahmad, Salmiah, Tokhi, M. Osman
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/2038/ http://irep.iium.edu.my/2038/ http://irep.iium.edu.my/2038/1/SalmiahAhmad_ICOM11.pdf

id	iium-2038
recordtype	eprints
spelling	iium-20382012-01-03T07:48:53Z http://irep.iium.edu.my/2038/ Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair Ahmad, Salmiah Tokhi, M. Osman TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations. 2011-07-05 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2038/1/SalmiahAhmad_ICOM11.pdf Ahmad, Salmiah and Tokhi, M. Osman (2011) Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair. In: 4th International Conference on Mechatronics (ICOM), 17-19 May, 2011, Kuala Lumpur, Malaysia. http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5937119&queryText%3DLinear+quadratic+regulator+.LB.LQR.RB.+approach+for+lifting+and+stabilizing+of+two+wheeledchair%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchFie
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering Ahmad, Salmiah Tokhi, M. Osman Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
description	This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations.
format	Conference or Workshop Item
author	Ahmad, Salmiah Tokhi, M. Osman
author_facet	Ahmad, Salmiah Tokhi, M. Osman
author_sort	Ahmad, Salmiah
title	Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
title_short	Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
title_full	Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
title_fullStr	Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
title_full_unstemmed	Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair
title_sort	linear quadratic regulator (lqr) approach for lifting and stabilizing of two wheeled wheelchair
publishDate	2011
url	http://irep.iium.edu.my/2038/ http://irep.iium.edu.my/2038/ http://irep.iium.edu.my/2038/1/SalmiahAhmad_ICOM11.pdf
first_indexed	2023-09-18T20:09:34Z
last_indexed	2023-09-18T20:09:34Z
_version_	1777407386269515776

Linear quadratic regulator (LQR) approach for lifting and stabilizing of two wheeled wheelchair

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