DocumentCode
2670735
Title
Design and LQ Control of a two-wheeled self-balancing robot
Author
Xiaogang, Ruan ; Jiang, Liu ; Haijiang, Di ; XinYuan, Li
Author_Institution
Coll. of Electron. & Control Eng., Beijing Univ. of Technol., Beijing
fYear
2008
fDate
16-18 July 2008
Firstpage
275
Lastpage
279
Abstract
The Artificial Intelligence and Robot Laboratory at the Beijing University of Technology, has built a two-wheeled Self-balancing robot which includes a digital signal processor as controller, a gyroscope and an inclinometer and two motor encoder as sensors, two coaxial dc motors, each of which is coupled with a wheel, as implement. The system mathematical model is built up using dynamics mechanics theory and method. The design of the control routine in simulation and DSP both employ LQR control strategy to help the robot to keep balance.
Keywords
control system synthesis; linear quadratic control; mobile robots; LQR control; digital signal processor; dynamics mechanics theory; two-wheeled self-balancing robot; Artificial intelligence; DC motors; Digital signal processors; Gyroscopes; Intelligent robots; Intelligent sensors; Laboratories; Mobile robots; Process control; Robot sensing systems; DSP; Gyroscope; LQR; Two-wheeled self-balancing robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location
Kunming
Print_ISBN
978-7-900719-70-6
Electronic_ISBN
978-7-900719-70-6
Type
conf
DOI
10.1109/CHICC.2008.4605775
Filename
4605775
Link To Document