Reduced order modelling and balancing control of bicycle robot

A new result for balancing control of a bicycle robot (bicyrobo), employing reduced-order modelling of a pre-specified design controller structure in higher-order to derive into a reduced controller has been presented in this paper. The bicyrobo, which is an unstable system accompanying other causes...

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Autores principales:	Kumar Suman Santosh, Kumar Awadhesh
Formato:	article
Lenguaje:	EN
Publicado:	University of Belgrade - Faculty of Mechanical Engineering, Belgrade 2021
Materias:	bicyrobo mor bspa higher-order controller reducedorder modelling Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359
Acceso en línea:	https://doaj.org/article/616f81628f5f49a6a8aefc835d336bf9
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spelling	oai:doaj.org-article:616f81628f5f49a6a8aefc835d336bf92021-12-05T21:01:52ZReduced order modelling and balancing control of bicycle robot1451-20922406-128X10.5937/fme2104919Khttps://doaj.org/article/616f81628f5f49a6a8aefc835d336bf92021-01-01T00:00:00Zhttps://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2021/1451-20922104919K.pdfhttps://doaj.org/toc/1451-2092https://doaj.org/toc/2406-128XA new result for balancing control of a bicycle robot (bicyrobo), employing reduced-order modelling of a pre-specified design controller structure in higher-order to derive into a reduced controller has been presented in this paper. The bicyrobo, which is an unstable system accompanying other causes of uncertainty such as UN-model dynamics, parameter deviations, and external disruptions has been of great interests to researchers. The controllers in the literature reviews come up with the higher order controller (HOC), the overall system becomes complex from the perspective of analysis, synthesis, enhancement and also not easy to handle it's hardware implementation. Therefore, a reduced-order pre-specified controller is developed in this work. It is effective enough to tackle unpredictable dynamics. The reduced-order controller (ROC) design is based on model order reduction (MOR) method, which is a resutl of hybridization of balanced truncation (BT) and singular perturbation approximation (SPA) approach. The reduced model so obtained, which retains DC gain as well, has been named as balanced singular perturbation approximation (BSPA) approach. It is based upon the preservation of dominant modes (i.e. appropriate states) of the system as well as the removal of states having relatively less important distinguishing features. The strong demerit of the BT method is that, for reduced-order model (ROM), steady-state values or DC gain do not match with the actual system values. The BSPA has been enabled to account for this demerit. The method incorporates greater dominant requirements and contributes to a better approximation as compared to the existing methods. The results obtained by applying proposed controller, are compared with those of the controllers previously designed and published for the same type of work. Comparatively, the proposed controller has been shown to have better performance as HOC. The performance of HOC and ROC is also examined with perturbed bicyrobo in terms of time-domain analysis and performance indices error.Kumar Suman SantoshKumar AwadheshUniversity of Belgrade - Faculty of Mechanical Engineering, Belgradearticlebicyrobomorbspahigher-order controllerreducedorder modellingEngineering (General). Civil engineering (General)TA1-2040Mechanics of engineering. Applied mechanicsTA349-359ENFME Transactions, Vol 49, Iss 4, Pp 919-934 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	bicyrobo mor bspa higher-order controller reducedorder modelling Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359
spellingShingle	bicyrobo mor bspa higher-order controller reducedorder modelling Engineering (General). Civil engineering (General) TA1-2040 Mechanics of engineering. Applied mechanics TA349-359 Kumar Suman Santosh Kumar Awadhesh Reduced order modelling and balancing control of bicycle robot
description	A new result for balancing control of a bicycle robot (bicyrobo), employing reduced-order modelling of a pre-specified design controller structure in higher-order to derive into a reduced controller has been presented in this paper. The bicyrobo, which is an unstable system accompanying other causes of uncertainty such as UN-model dynamics, parameter deviations, and external disruptions has been of great interests to researchers. The controllers in the literature reviews come up with the higher order controller (HOC), the overall system becomes complex from the perspective of analysis, synthesis, enhancement and also not easy to handle it's hardware implementation. Therefore, a reduced-order pre-specified controller is developed in this work. It is effective enough to tackle unpredictable dynamics. The reduced-order controller (ROC) design is based on model order reduction (MOR) method, which is a resutl of hybridization of balanced truncation (BT) and singular perturbation approximation (SPA) approach. The reduced model so obtained, which retains DC gain as well, has been named as balanced singular perturbation approximation (BSPA) approach. It is based upon the preservation of dominant modes (i.e. appropriate states) of the system as well as the removal of states having relatively less important distinguishing features. The strong demerit of the BT method is that, for reduced-order model (ROM), steady-state values or DC gain do not match with the actual system values. The BSPA has been enabled to account for this demerit. The method incorporates greater dominant requirements and contributes to a better approximation as compared to the existing methods. The results obtained by applying proposed controller, are compared with those of the controllers previously designed and published for the same type of work. Comparatively, the proposed controller has been shown to have better performance as HOC. The performance of HOC and ROC is also examined with perturbed bicyrobo in terms of time-domain analysis and performance indices error.
format	article
author	Kumar Suman Santosh Kumar Awadhesh
author_facet	Kumar Suman Santosh Kumar Awadhesh
author_sort	Kumar Suman Santosh
title	Reduced order modelling and balancing control of bicycle robot
title_short	Reduced order modelling and balancing control of bicycle robot
title_full	Reduced order modelling and balancing control of bicycle robot
title_fullStr	Reduced order modelling and balancing control of bicycle robot
title_full_unstemmed	Reduced order modelling and balancing control of bicycle robot
title_sort	reduced order modelling and balancing control of bicycle robot
publisher	University of Belgrade - Faculty of Mechanical Engineering, Belgrade
publishDate	2021
url	https://doaj.org/article/616f81628f5f49a6a8aefc835d336bf9
work_keys_str_mv	AT kumarsumansantosh reducedordermodellingandbalancingcontrolofbicyclerobot AT kumarawadhesh reducedordermodellingandbalancingcontrolofbicyclerobot
_version_	1718371003886731264

Reduced order modelling and balancing control of bicycle robot

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