Modelling and Control Using Pole Placement Method for Self Balancing Robot
Ahmad Fahmi, Marizan bin Sulaiman, Indrazno Siradjuddin, Ratna Ika Putri, Aang Junaidi, Zakiyah Amalia
Dept. of Electrical Engineering, State University of Malang, Indonesia
Dept. of Industrial Power Engineering, Universiti Teknikal Malaysia Malaka
Dept. of Electrical Engineering-Control System and Robotic-State Polytechnic of Malang, Indonesia
Abstract
Two-wheeled balancing robot (Segway) is a mobile robot that has two wheels on the right and left side that can not be balanced if not controlled. Segway is an underactuated and nonlinear system. Segway stability control method is presented in this paper. The simulation and modeling system of two wheels self balancing robot (segway) also proposed. By modeling and simulated, we knew the original response and controlled response of segway. Stability is an important parameter in designing of segway, we suggest a controller for the Segway to guarantee stability response using pole-placement method, The general pole placement technique which places closed-loop poles in desired locations in the s-plane is discussed.
Keywords: Pole placement, Segway, Modeling, Balancing, Control
Topic: Mechatronics and Robotics Technologies