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Journal of Applied Nonlinear Dynamics 10(1) (2021) 29--45 | DOI:10.5890/JAND.2021.03.002

Saransh Jain$^1$, Mohit Makkar$^1$ , Sarthak Jain$^1$, Deepak Unune$^2$

$^1$ Department of Mechanical-Mechatronics Engineering, The LNM Institute of Information Technology Jaipur, 302031, India

$^2$ Department of Materials Science and Engineering, University of Sheffield, INSIGNEO Institute for in silico Medicine, The Pam Liversidge Building, Sheffield, S1 3JD, United Kingdom

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Abstract

The two-wheeled self-balancing human transporters (TW-SBHT) are being widely used in transportation nowadays owing to their advantages such as energy saving, environmental protection, simple structure, and flexible operation. The modelling and control of TW-SBHT have emerged as one of the trending research areas in the field of control system design of mobile robots. Being a complex and nonlinear system, the control problem of TW-SBHT is a challenging task and needs to be effectively tackled to achieve the control objectives of maintaining uniform speed and dynamic stability. Though linear control strategies for TW-SBHT have been already proposed in the literature, they cannot offer an effective control for large external disturbances. Therefore, in this work, a non-linear control i.e. State-Dependent Riccati Equation (SDRE) has been implemented for effective control of TW-SBHT and its performance is compared with the linear controls including Proportional-Integral-Derivative (PID) and Linear-Quadratic Regulator (LQR) techniques. Initially, the more accurate model of TW-SBHT has been derived by applying the suitable modifications in existing models. Then, the application of SDRE for control of TW-SBHT has been presented and its performance is compared with linear control strategies.

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