TELKOMNIKA Telecommunication, Computing, Electronics and Control
Application of model reduction for robust control of self-balancing two-wheeled bicycle

TELKOMNIKA Telecommunication, Computing, Electronics and Control
Application of model reduction for robust control of self-balancing two-wheeled bicycle

Model order reduction
Robust control
Self-balancing
Two-wheeled bicycle

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.

Vu Ngoc Kien, Nguyen Hong Quang, Ngo Kien Trung

http://journal.uad.ac.id/index.php/TELKOMNIKA

Aug 29, 2020

peri irawan

pdf

english

text