Control Design for the Balancing of an Automated Three-Link Gymnastics Robot Based Discrete -Time Linear Quadratic Regular Technique | ||
| Kerbala Journal for Engineering Sciences | ||
| Volume 3, Issue 4, December 2023, Pages 172-187 PDF (1.39 M) | ||
| Document Type: Research Article | ||
| Authors | ||
| Noura Ahmed* 1; haider galil alghurabi2; Ahmed Abdulhadi ِAl-Moadhen3 | ||
| 1Department of Electrical & Electronic Engineering, College of Engineering, University of Kerbala, Iraq | ||
| 2Department of Computer Engineering Techniques Alsafwa University College | ||
| 3University of Kerbala/ Karbala/Iraq | ||
| Abstract | ||
| This paper proposes how to balance a non-linear triple inverted pendulum, which is represented by a gymnastic robot in the vertical plane. This robot simulates a human acrobat. This type of robot is installed on ball bearings and connected to a high bar that rotates freely. It is made of three joints; the first joint is idle with no actuator (not powered). The second joint is active. As for the third joint, it is active. The first joint presents a major challenge in how to control the balance of the three-link gymnastic robot. To achieve that goal, Discrete Linear Quadratic Regular (DLQR) and Linear-quadratic-Gaussian (LQG) control theory is used and implemented on the time discrete controller by using the mathematical model of the robot. The simulation results showed the difference between LQR and LQG control systems to balance and control the gymnastics robot system. Finally, the LQR is better where superior results for the three links (first, second, third) were obtained in terms of overshot (23.37%, 176.8%, 73.125%), rise time (0.05013s, 0.07519s, 0.02506s), and setting time (3.208s, 3.233s, 4.16s) compared to the than the LQG. | ||
| Keywords | ||
| gymnastic robot; Inverted Triple Pendulum; Discrete Linear Quadratic Regular (DLQR); Control of balance; Linear-quadratic-Gaussian (LQG) | ||
| References | ||
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