Robust H Controller with Parametric Uncertainties for Anti-Rolling Gyro System

Unggul Wasiwitono*, Latifah Nurahmi, Ari Kurniawan Saputra, Bambang Pramujati

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents the robust control of an anti-rolling gyro system based on gyroscopic precession momentum. Parameter uncertainties are considered by using the polytopic approach. The linear matrix inequalities-based (LMI) technique is used to design the robust controller. The designed controller is applied to a two-wheeled self-balancing vehicle, an unstable and sensitive system in terms of parametric uncertainties. Simulation results show that the robust controller works well for a given parameter uncertainty bound.

Original languageEnglish
Title of host publicationRecent Advances in Mechanical Engineering - Select Proceedings of ICOME 2021
EditorsIvan Tolj, M.V. Reddy, Achmad Syaifudin
PublisherSpringer Science and Business Media Deutschland GmbH
Pages385-393
Number of pages9
ISBN (Print)9789811908668
DOIs
Publication statusPublished - 2023
Event5th International Conference on Mechanical Engineering, ICOME 2021 - Virtual, Online
Duration: 25 Aug 202126 Aug 2021

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference5th International Conference on Mechanical Engineering, ICOME 2021
CityVirtual, Online
Period25/08/2126/08/21

Keywords

  • H Controller
  • Linear matrix inequalities
  • Parametric uncertainty
  • Self-balancing

Fingerprint

Dive into the research topics of 'Robust H Controller with Parametric Uncertainties for Anti-Rolling Gyro System'. Together they form a unique fingerprint.

Cite this