Abstract
The current work explores the modelling, control and realistic execution of nonlinear segway system in both simulation andreal-time. The Segway vehiclehas been consideredas a physical system that is nonlinear and unstable. Equations of motions have been derivedusing Lagrangian dynamics by considering kinetic energy and potential energy. Then, the nonlinear differential equations have linearised using Taylor series expansion of functions to acquire a state space model of the system and convert it into two transfer functions that corresponds to tilt angle and yaw angle. These are the controlparametersto stabilize the Segway system. Effective simulation analysis of nonlinear controlis madeup with PID, GA Tuned PID and Model Predictive controller (MPC) byMATLAB. And also, an electro-mechanical model of Segway vehiclehas developedforreal-timecontrol analysis. It is autonomously sensed and actuated through embedded processor tomeetthe desired response. An online optimization techniquehas involvedsolving dynamic optimization problems in MPC for superior performance. This innovative realisation paves the approach for the young researchers to consider the essence of analysis in nonlinear applications.
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