Modeling and optimal control of the stability of a two-wheeled mobile robot using PID and LQR techniques
DOI:
https://doi.org/10.18041/1794-4953/avances.2.10918Keywords:
optimal control, LQR control, PID control, modeling, Mobile Robot, Nonlinear systems, Di, Dynamical systems, eletric mobilityAbstract
This article aims to compare the performance of two widely used controllers in the control of dynamic systems: the PID (Proportional-Integral-Derivative) controller and the LQR (Linear Quadratic Regulator) controller. A detailed simulation using MATLAB® Simulink is presented to evaluate the behavior of a two-wheeled autonomous self-balancing mobile robot. A mathematical model that accurately describes the robot system has been developed. Specific design techniques were then applied to each controller, and the resulting behavior was observed in terms of stability and response. This comparison has significant implications in the field of autonomous systems control and can help determine which of the two controllers is more suitable for applications of autonomous self-balancing mobile robots.
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