Optimal State Feedback Control for Bicycle Stabilization using APT-FPSO Algorithm

Journal of Computer & Robotics

دوره 15، شماره 1 - شماره پیاپی 25، مهر 2022، صفحه 1-7   

نوع مقاله: Original Research (Full Papers)

شناسه دیجیتال (DOI): 10.22094/jcr.2022.1952496.1265

نویسندگان

Mana Azim Araghi¹؛ Seyed Mohammad Nami Mir Mohammad Sadeghi²؛ Seyed Ali Mir Mohammad Sadeghi^{* 3}

¹Faculty of New Technologies Engineering, Shahid Beheshti University, Tehran, Iran

²Faculty of New Sciences & Technologies, University of Tehran, Tehran, Iran

³Department of Mechanical Engineering, Virginia Tech, Blacksburg

چکیده

Advanced control systems are required to maintain bicycle stability due to its unstable open-loop behaviour. This work is aimed at designing an optimal state feedback control system for bicycle stabilization. The performance index of the optimal control system is minimized using the newly developed adaptive particularly tunable fuzzy particle swarm optimization algorithm. The states of the system are estimated using a state observer. The obtained results are compared with those of the linear–quadratic regulator (LQR). The main advantage of the developed control system is that, unlike the LQR controller that is limited to linear systems, it can be extended to nonlinear control systems.

کلیدواژه‌ها

Bicycle stabilization؛ State observer؛ Optimal control؛ APT-FPSO algorithm

سایر فایل های مرتبط با مقاله

1265.pdf

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