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    Mathematical modelling and control of a two-wheeled PUMA-like vehicle

    Goher, Khaled
    Abstract
    This paper presents mathematical modelling and control of a two-wheeled single-seat vehicle. The design of the vehicle is inspired by the Personal Urban Mobility and Accessibility (PUMA) vehicle developed by General Motors® in collaboration with Segway®. The body of the vehicle is designed to have two main parts. The vehicle is activated using three motors; a linear motor to activate the upper part in a sliding mode and two DC motors activating the vehicle while moving forward/backward and/or manoeuvring. Two stages proportional-integral-derivative (PID) control schemes are designed and implemented on the system models. The state space model of the vehicle is derived from the linearized equations. Controller based on the Linear Quadratic Regulator (LQR) and the pole placement techniques are developed and implemented. Further investigation of the robustness of the developed LQR and the pole placement techniques is emphasized through various experiments using an applied impact load on the vehicle.... [Show full abstract]
    Keywords
    PUMA; Inverted pendulum; PID; LQR; Pole Placement
    Fields of Research
    0906 Electrical and Electronic Engineering
    Date
    2016
    Type
    Journal Article
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    • Department of Informatics and Enabling Technologies [119]
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    DOI
    https://doi.org/10.5539/mer.v6n2p11
    Metadata
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    Copyright for this article is retained by the author(s), with first publication rights granted to the journal. This is an open-access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/).Attribution 4.0 International
    Citation
    Goher, K. (2016). Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle. Mechanical Engineering Research, 6(2), 11.
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