شبیه سازی مقاله Design of Linear Quadratic Optimal Controller for Bicycle Robot در محیط متلب

Abstract –The dynamic model of bicycle robot is similar to be linear model when it is moving at a high speed. Aiming at the goal of balancing bicycle robot with high speed, a kind of linear dynamic model of bicycle robot was presented based on a nonlinear dynamic model of bicycle robot. The open–loop stability was analyzed based on the linear dynamic model. And the controllability and observability of the linear dynamic model were verified. Then the district time model of the bicycle robot was presented based on the continuous time linear model. Then a linear quadratic optimal controller was designed based on linear control theory for the linear dynamic model of bicycle robot. The computer simulation results show the efficiency of the control algorithm. It is practical for the real bicycle robot experiments in future. Index Terms – bicycle robot, Linear dynamic model, district time model, linear quadratic optimal control, computer simulation. عنوان مقاله جهت دانلود : Desig …