期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2021
卷号：19
期号：1
DOI：10.12928/telkomnika.v19i1.16298
语种：English
出版社：Universitas Ahmad Dahlan
摘要：In recent years, balance control of two-wheeled bicycle has received more attention of scientists. One difficulty of this problem is the control object is unstable and constantly impacted by noise. To solve this problem, the authors often use robust control algorithms. However, robust controller of self-balancing two-wheeled bicycle are often complex and higher order so affect to quality during real controlling. The article introduces the stochastic balanced truncation algorithm based on Schur analysis and applies this algorithm to reduce order higher order robust controller in control balancing two-wheeled bicycle problem. The simulation results show that the reduced 4th and 5th order controller arcoording to the stochastic balanced truncation algorithm based on Schur analysis can control the two-wheeled bicycle model. The reduced 3rd order controller cannot control the balance of the two-wheeled bicycle model. The reduced 4th and 5th order controller can replace the original controller while the performance of the control system is ensured. Using reduced 5th, 4th order controller will make the program code simpler, reducing the calculation time of the self-balancing two-wheel control system. The simulation results show the correctness of the model reduction algorithm and the robust control algorithm of two-wheeled self-balancing two-wheeled bicycle.
关键词：gantry crane system;modified sine cosine optimization algorithm;PIDC controller;standard sine cosine optimization algorithm;test functions
