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dc.contributor.authorGoher, Khaleden
dc.date.accessioned2017-01-26T01:53:14Z
dc.date.available2016-11-23en
dc.date.issued2016en
dc.identifier.citationGoher, K. (2016). Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle. Mechanical Engineering Research, 6(2), 11.en
dc.identifier.issn1927-0607en
dc.identifier.urihttps://hdl.handle.net/10182/7748
dc.description.abstractThis 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.en
dc.format.extent11-22en
dc.languageEnglishen
dc.language.isoenen
dc.publisherCanadian Center of Science and Educationen
dc.relationThe original publication is available from - Canadian Center of Science and Education - https://doi.org/10.5539/mer.v6n2p11 - http://dx.doi.org/10.5539/mer.v6n2p11en
dc.relation.urihttps://doi.org/10.5539/mer.v6n2p11en
dc.rightsCopyright 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/).en
dc.rightsAttribution 4.0 International*
dc.subjectPUMAen
dc.subjectInverted pendulumen
dc.subjectPIDen
dc.subjectLQRen
dc.subjectPole Placementen
dc.titleMathematical modelling and control of a two-wheeled PUMA-like vehicleen
dc.typeJournal Article
lu.contributor.unitLincoln Universityen
lu.contributor.unitFaculty of Environment, Society and Designen
lu.contributor.unitDepartment of Environmental Managementen
dc.identifier.doi10.5539/mer.v6n2p11en
dc.subject.anzsrc0906 Electrical and Electronic Engineeringen
dc.relation.isPartOfJournal of Mechanical Engineering Researchen
pubs.issue2en
pubs.organisational-group/LU
pubs.organisational-group/LU/Faculty of Environment, Society and Design
pubs.organisational-group/LU/Faculty of Environment, Society and Design/DEM
pubs.publication-statusPublisheden
pubs.publisher-urlhttp://dx.doi.org/10.5539/mer.v6n2p11en
pubs.volume6en
dc.identifier.eissn1927-0615en
lu.identifier.orcid0000-0003-2332-3876


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