System vibration control using linear quadratic regulator

• Autorzy: Abdelrahman M. , Aryassov G. , Tamre M. , Penkov I.

Identyfikatory

DOI

10.2478/ijame-2022-0031

• Języki publikacji: EN

Abstrakty

EN

Balancing a bipedal robot movement against external perturbations is considered a challenging and complex topic. This paper discusses how the vibration caused by external disturbance has been tackled by a Linear Quadratic Regulator, which aims to provide optimal control to the system. A simulation was conducted on MATLAB in order to prove the concept. Results have shown that the linear quadratic regulator was successful in stabilizing the system efficiently.

Słowa kluczowe

EN

linear quadratic regulator; inverted pendulum on cart

PL

robot humanoidalny; robotyka; robot dwunożny

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2022
• Tom: Vol. 27, no. 3
• Strony: 1--8
• Opis fizyczny: Bibliogr. 14 poz., tab., wykr.

Twórcy

autor

Abdelrahman M.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Aryassov G.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Tamre M.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Penkov I.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

Bibliografia

• [1] Bahdi E. (2018): Development of a Locomotion and Balancing Strategy for Humanoid Robots.– M.S. Thesis, Computer Engineering, University of Denver, p.102.
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• [3] Reimann H., Fettrow T. and Jeka J. J. (2018): Strategies for the control of balance during locomotion.– Kinesiology Review, vol.7, No.1, pp.18-25.
• [4] Shafiee-Ashtiani M., Yousefi-Koma, A., Shariat-Panahi, M. and Khadiv, M. (2017): Push recovery of a humanoid robot based on model predictive control and capture point.– 4-th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, pp.433-438.
• [5] Vaz J. C. and Oh P. (2020): Material handling by humanoid robot while pushing carts using a walking pattern based on capture point.– Proceedings - IEEE International Conference on Robotics and Automation, pp.9796-9801.
• [6] Jo H.M. and Oh J.H. (2018): Balance recovery through model predictive control based on capture point dynamics for biped walking robot.– Robotics and Autonomous Systems, No.105, pp.1-10.
• [7] Araffa K. and Tkach M. (2019): Implementation and simulation a model predictive control for motion generation of biped robot.– Adaptive Systems of Automatic Control, vol.2, No.35, pp.3-12.
• [8] White J., Swart D. Hubicki C. (2020): Force-based control of bipedal balancing on dynamic terrain with the tallahassee cassie robotic platform.– Proceedings - IEEE International Conference on Robotics and Automation, pp.6618-6624.
• [9] Al-Shuka H.F.N., Corves B. J., Vanderborght B. and Zhu W.-H. (2014): Zero-Moment Point-Based Biped Robot with Different Walking Patterns.– International Journal of Intelligent Systems and Applications, vol.7, No.1, pp.31-41.
• [10] DeHart B. J. (2019): Dynamic Balance and Gait Metrics for Robotic Bipeds.– Thesis for PhD in electrical and Computer Engineering, University of Waterloo, p.153.
• [11] Araffa K. and Tkach M. (2019): Implementation and simulation a model predictive control for motion generation of biped robot.– Adaptive Systems of Automatic Control, vol.2, No.35, pp.3-12.
• [12] Roose A.I., Yahya S. and Al-Rizzo H. (2017): Fuzzy-logic control of an inverted pendulum on a cart.– Computers and Electrical Engineering, No.61, pp.31-47, https://doi.org/10.1016/j.compeleceng.2017.05.016.
• [13] Abut T. and Soyguder S. (2019): Real-time control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum. Industrial Robot, vol.46, No.1, pp.159-170.
• [14] Hazem Z. Ben, Fotuhi M.J. and Bingül Z. (2020): Development of a Fuzzy-LQR and Fuzzy-LQG stability control for a double link rotary inverted pendulum. Journal of the Franklin Institute, vol.357, No.15, pp.10529-10556.

Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)