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Stabilization and Trajectory Tracking of a Segway

van der Veen, Jochem (2018) Stabilization and Trajectory Tracking of a Segway. Integration Project, Industrial Engineering and Management.

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Abstract

The project considers the stabilization of a Segway (two-wheeled inverted pendulum). Throughout the project, a linearized model of a Segway system is used and assumed to be a true representation of the Segway. The first part of the project consists in the design of a Linear-Quadratic Regulator (LQR), which stabilizes the Segway in its upward configuration. In the continuation of the project, a so called ‘automatic pilot’ is implemented into the systems controller, stabilizing the system at a desired velocity moving in a straight line. In the project, the ability of the Segway to turn is not considered. Two controllers are proposed for this trajectory tracking. All three controllers are extensively evaluated on robustness to disturbances. In the final part of the project, the theoretical results are validated through simulations that represents different realistic scenarios. Furthermore, the performance of each control approach is evaluated.

Item Type: Thesis (Integration Project)
Supervisor:
Supervisor nameSupervisor E mail
Borja Rosales, L.P.L.P.Borja.Rosales@rug.nl
Jonker, G.H.G.H.Jonker@rug.nl
Scherpen, J.M.A.J.M.A.Scherpen@rug.nl
Degree programme: Industrial Engineering and Management
Thesis type: Integration Project
Language: English
Date Deposited: 06 Jul 2018
Last Modified: 10 Jul 2018 06:32
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/17657

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