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Eigen Value Analysis of Optimal Controller Design of Wheeled Autonomous Mobile Robot

by Shahida Khatoon, Kaukab Naz, Ibraheem
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 103 - Number 17
Year of Publication: 2014
Authors: Shahida Khatoon, Kaukab Naz, Ibraheem
10.5120/18293-9211

Shahida Khatoon, Kaukab Naz, Ibraheem . Eigen Value Analysis of Optimal Controller Design of Wheeled Autonomous Mobile Robot. International Journal of Computer Applications. 103, 17 ( October 2014), 13-18. DOI=10.5120/18293-9211

@article{ 10.5120/18293-9211,
author = { Shahida Khatoon, Kaukab Naz, Ibraheem },
title = { Eigen Value Analysis of Optimal Controller Design of Wheeled Autonomous Mobile Robot },
journal = { International Journal of Computer Applications },
issue_date = { October 2014 },
volume = { 103 },
number = { 17 },
month = { October },
year = { 2014 },
issn = { 0975-8887 },
pages = { 13-18 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume103/number17/18293-9211/ },
doi = { 10.5120/18293-9211 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:34:52.892831+05:30
%A Shahida Khatoon
%A Kaukab Naz
%A Ibraheem
%T Eigen Value Analysis of Optimal Controller Design of Wheeled Autonomous Mobile Robot
%J International Journal of Computer Applications
%@ 0975-8887
%V 103
%N 17
%P 13-18
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

The autonomous wheeled mobile robots (AWMR) are subjected to high demands concerning stability, controllability and safety. Therefore, it becomes very important to devise the effective and efficient control strategies for such system to get desired system dynamic performance. In this paper the state space model of the system has been developed, the dynamic behavior of the system has been studied and then optimal controllers are designed using full state feedback control strategy. The optimal controllers are designed for various operating conditions using pole placement technique. The dynamic response plots are obtained for various system states considering various operating conditions. The investigations of these reveal that the implementation of optimal controllers offer not only good dynamic performance, also ensure system dynamic stability.

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Index Terms

Computer Science
Information Sciences

Keywords

Autonomous wheeled mobile robot (AWMR) Linear quadratic regulator (LQR) Error weighting matrix Q Control weighting matrix R