Research of LQR controller based on Two-wheeled self-balancing robot

Author

Qiang, Lv ; Ke-ke, Wang ; Guo-Sheng, Wang

Author_Institution

Dept. of Control Eng., Acad. of Armored Force Eng., Beijing, China

fYear

2009

fDate

17-19 June 2009

Firstpage

2343

Lastpage

2348

Abstract

The hardware design of the two-wheeled self-balancing robot platform is described in this paper. After setting up the space coordinates of the system, the kinematical and dynamic analysis are both presented. Then the system model is established and it severs as the basis of consequent research of control theories and methods. The LQR controller is designed as the system controller, and it is simulated using MATLAB. The simulation and experiment results are provided to show the efficacy of the LQR controller.

Keywords

control engineering computing; control system synthesis; linear quadratic control; robot dynamics; robot kinematics; LQR controller; MATLAB; control theories; dynamic analysis; hardware design; kinematical analysis; system controller design; two-wheeled self-balancing robot; Algorithm design and analysis; Chromium; Control engineering; Design engineering; Force control; Hardware; Mathematical model; Orbital robotics; Robot control; Robot kinematics; Control Algorithm; LQR Controller; Self-Balancing Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5192771

Filename

5192771