Title :
Implementation of unicycle segway using unscented Kalman filter in LQR control
Author :
Miseon Han ; Kyunghwan Kim ; Do Youn Kim ; Jaesung Lee
Author_Institution :
Dept. of Electron. Eng., HanNam Univ., Daejeon, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
In this paper, we design a stable controller, using LQR method in order to achieve unicycle Robot´s balance by using unscented Kalman filter. After linearizing the derived Dynamics, LQR controller is designed. By performing simulations in MATLAB (MATLAB, MathWorks, USA) to apply to the physical model, the precise attitude control of the unicycle segway was possible.
Keywords :
Kalman filters; attitude control; bicycles; control system synthesis; linear quadratic control; mobile robots; nonlinear filters; robot dynamics; stability; LQR control design; MATLAB; precise attitude control; stable controller; unicycle robot balance; unicycle segway; unscented Kalman filter; LQR controller; Unicycle segway; Unscented Kalman Filter;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677427
