The Design of Hopping Angle Control by Using PID and LQR Techniques

Abstract:

It is very difficult for hopping robots to follow the trajectory without controlling hopping angle. A hopping angle controller is designed for combustion piston type hopping robot to adjust the angle of hop which is required to achieve a desired distance or height. So, the controller adds functionality to hopping robot for altering the hopping angle during operation according to obstacle height and obstacle distance. A proportional Integrated Derivative (PID) and Linear Quadratic Regulator (LQR) are designed and compared for adjusting hopping angle by using MATLAB / SIMULINK environment. As result, both controllers are capable to control hopping angle but PID gives better performance. An implementation of PID controller for the hopping angle control is given by using a DC motor. The experiment also carried out on prototype by using PID controller and found satisfactory results.

• Periodical: Applied Mechanics and Materials (Volume 419)
• Pages: 693-700
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.419.693
• Online since: October 2013
• Authors: Saifullah Samo, Shu Yuan Ma, Bdran Sameh
• Keywords: Hopping Angle Control, Hopping Robot, LQR Controller, Mobile Robot, PID Controller

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