Simulating LQR and PID controllers to stabilise a three-link robotic system

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dc.authorscopusid57623538200
dc.authorscopusid6602406250
dc.authorscopusid6506040810
dc.authorscopusid57856060300
dc.authorscopusid57202966631
dc.contributor.authorMohamed, Mahmoud
dc.contributor.authorAnayi, Fatih
dc.contributor.authorPackianather, Michael
dc.contributor.authorSamad, Bdereddin Abdul
dc.contributor.authorYahya, Khalid
dc.date.accessioned2024-09-11T19:59:00Z
dc.date.available2024-09-11T19:59:00Z
dc.date.issued2022
dc.departmentİstanbul Gelişim Üniversitesien_US
dc.description2nd International Conference on Advance Computing and Innovative Technologies in Engineering, ICACITE 2022 -- 28 April 2022 through 29 April 2022 -- Greater Noida -- 181064en_US
dc.description.abstractThe study reported here concerns stabilisation control in a multiple-link robotic gymnast (Robogymnast) MATLAB model. The Robot Gymnast represents a high-complexity, triple-inverted pendulum system. The gymnast imitates a human gymnast hanging from an elevated bar and swinging up to increasing heights until it reaches full rotation. The Robogymnast is a 3-link structure, with components analogous to the legs, arms and torso, and has 3 joints: one operating passively, without power; and two other joints which use power. The overhead joint is a significant problem for the controlled motion of the robot and in achieving the smoothness necessary in its operation. The robot gymnast system has been built in reality. However, this paper will focus on the MATLAB model, and illustrate systems features as well as linearisation of the mathematical model for the system, the paper will investigate ways of identifying state space using Lagrange equations. A proportional-integral-derivative controller is applied to operate the system, to measure the degree of response stabilisation. Additionally, use is made of MATLAB Simulink for system simulations and displaying results for overshoot and rise and settle times. The primary purpose of this study was to investigate how linear quadratic regulators and proportional-integral-derivative controllers can be applied in robotic gymnastics. © 2022 IEEE.en_US
dc.identifier.doi10.1109/ICACITE53722.2022.9823512
dc.identifier.endpage2036en_US
dc.identifier.isbn978-166543789-9en_US
dc.identifier.scopus2-s2.0-85135470911en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage2033en_US
dc.identifier.urihttps://doi.org/10.1109/ICACITE53722.2022.9823512
dc.identifier.urihttps://hdl.handle.net/11363/8609
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2022 2nd International Conference on Advance Computing and Innovative Technologies in Engineering, ICACITE 2022en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240903_Gen_US
dc.subjectinverted pendulum; LQR; MATLAB; PID; robot gymnast (Robogymnast); swing-up controlen_US
dc.titleSimulating LQR and PID controllers to stabilise a three-link robotic systemen_US
dc.typeConference Objecten_US

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