Bibliographic citations
Bazán, J., (2024). Algoritmo LQR en un entorno de simulación Matlab/Simulink para mejorar la respuesta de la suspensión de un robot móvil aplicable en fundos agrícolas de la región La Libertad-Perú [Tesis, Universidad Privada Antenor Orrego]. https://hdl.handle.net/20.500.12759/48351
Bazán, J., Algoritmo LQR en un entorno de simulación Matlab/Simulink para mejorar la respuesta de la suspensión de un robot móvil aplicable en fundos agrícolas de la región La Libertad-Perú [Tesis]. PE: Universidad Privada Antenor Orrego; 2024. https://hdl.handle.net/20.500.12759/48351
@mastersthesis{renati/1337875,
title = "Algoritmo LQR en un entorno de simulación Matlab/Simulink para mejorar la respuesta de la suspensión de un robot móvil aplicable en fundos agrícolas de la región La Libertad-Perú",
author = "Bazán Quispe, Jheremy André",
publisher = "Universidad Privada Antenor Orrego",
year = "2024"
}
The present research develops an LQR (Linear Quadratic Regulator) algorithm in the MATLAB/Simulink environment to simulate the control of the active suspension of a mobile robot applicable to agricultural beds in the La Libertad region. The purpose of the LQR algorithm is to improve the response of the active suspension of the robot with respect to a passive suspension in the scenario of maintaining tire-ground contact without affecting the comfort of movement. The methodology proposed in this research quantitatively associates the pitch and roll angles (roll and pitch) of the mobile robot. That is, the LQR algorithm governs the active suspension such that values of the roll and pitch angles associated with poses or reconfigurations of the mobile robot are obtained that ensure (within a permitted range) tire-ground contact without affecting comfort. Finally, the results of the validation of the work are presented in a configurable virtual environment to emulate the characteristics of different agricultural lands in terms of texture, friction and irregularities.
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