Page 46 - IJEEE-2023-Vol19-ISSUE-1

42 | Mohsin, Aldair & Al-Hussaibi

N-axis, -10° on the negative N-axis, and 5° on the positive (a)
N-axis as disturbances subjected to robot structure.
(b)
Case 3: closed-loop using LQR controller Fig.8: TWSBR disturbance angle test. a: System response to the
According to the performance of the PID controller on the
TWSBR Simscape Multibody model, it is clearly observed that initial disturbance angle is applied. b: Robot Position
the equilibrium is achieved correctly under road disturbance indication.
effects when the robot moves back and forth, but the position of
the robot is uncontrollable. In order to give the TWSBR
Simscape model access to a wider variety of control techniques
and to let it take command of more system states. LQR
controller is designed to be capable of controlling all four states
of the system under control targets including robot wheel
position, robot angle, robot velocity and the robot angle
velocity.
A 10° degree disturbance angle at 0.1 seconds is applied to
testing the Simscape plant. Figure 10 demonstrates the TWSBR
full states system response. The controller capacity to track cart
position is investigated as the wheel generates a control signal
to move the wheeled robot to the desired position while
keeping the robot body in the upright position. Figure10c
shows the simulation results of robot position based on LQR
controller were different desired position is established under
external angle disturbance.

(a)

Fig.9: TWSBR inclination angle response with PID controller
under three external disturbance angles.

(b) (a)
Fig.7: a) TWSBR is in the initial position. b) Showing a Fig.10: Full states of LQR controller responses for TWSBR a:
TWSBR falls down immediately without any controller is
position and body angle. b: velocity and angle velocity. c:
connected Different desired positions are controlled by LQR controller.