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

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

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 equ...

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Main Authors: Aula, Abqori, Ahmad, Salmiah, Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
English
Published: IEEE 2015
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/1/45170.pdf
http://irep.iium.edu.my/45170/4/45170_PSO-based%20state%20feedback%20regulator_scopus.pdf
id iium-45170
recordtype eprints
spelling iium-451702017-09-18T09:37:58Z http://irep.iium.edu.my/45170/ PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode Aula, Abqori Ahmad, Salmiah Akmeliawati, Rini TJ212 Control engineering 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. IEEE 2015 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/45170/1/45170.pdf application/pdf en http://irep.iium.edu.my/45170/4/45170_PSO-based%20state%20feedback%20regulator_scopus.pdf 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. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244680 10.1109/ASCC.2015.7244680
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Aula, Abqori
Ahmad, Salmiah
Akmeliawati, Rini
PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
description 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.
format Conference or Workshop Item
author Aula, Abqori
Ahmad, Salmiah
Akmeliawati, Rini
author_facet Aula, Abqori
Ahmad, Salmiah
Akmeliawati, Rini
author_sort Aula, Abqori
title PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
title_short PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
title_full PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
title_fullStr PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
title_full_unstemmed PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
title_sort pso-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode
publisher IEEE
publishDate 2015
url http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/
http://irep.iium.edu.my/45170/1/45170.pdf
http://irep.iium.edu.my/45170/4/45170_PSO-based%20state%20feedback%20regulator_scopus.pdf
first_indexed 2023-09-18T21:04:18Z
last_indexed 2023-09-18T21:04:18Z
_version_ 1777410829844480000

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