The Two-Wheeled Robot: Experimental Evaluation of Two Controllers
Abstract In this paper we present the theoretical and experimental comparison of two digital controllers intended for stabilization of a two-wheeled robot. The properties of an LQG controller and an LQR controller with H ∞ filter are evaluated. Using the μ -analysis, we show that both controllers ensure robust stability of the closed-loop system in the presence of unstructured uncertainty. The results from the closed-loop system experimental evaluation confirm the precise work of both controllers.
Authors
- Tsonyo Slavov (ORCID: https://orcid.org/0000-0002-4180-4721)
- Jordan Kralev (ORCID: https://orcid.org/0000-0002-5416-2115)
- Petko H. Petkov (ORCID: https://orcid.org/0000-0003-0334-0900)
Institutions
- Bulgarian Academy of Sciences (BG)
- Technical University of Sofia (BG)
Publication Details
- Journal
- IOP Conference Series Materials Science and Engineering
- Published
- 2024-10-01
- DOI
- https://doi.org/10.1088/1757-899x/1317/1/012010
- Primary Topic
- Control Systems and Identification
- Type
- article
- Field-Weighted Citation Impact
- 0.00