Title :
Design and experimental evaluation of a state feedback controller for two wheeled balancing robot
Author :
ul Hasan, Mahmood ; Hasan, K.M. ; Asad, Muhammad Usman ; Farooq, Umar ; Gu, Jason
Author_Institution :
Dept. of Electr. Eng., Mirpur Univ. of Sci. & Technol., Mirpur, Pakistan
Abstract :
This paper presents an experimental study of a state feedback controller for stabilizing a two wheeled self balancing robot which is constructed from Lego Mindstorms NXT 2.0 kit. A gyro sensor and two wheel encoders help in measuring the robot state. This state information is used by a linear quadratic regulator (LQR) to stabilize the robot. The initial design and validation of LQR controller is carried out in MATLAB environment. The control gains are tuned afterwards for satisfactory real time results.
Keywords :
control system synthesis; gyroscopes; linear quadratic control; mobile robots; motion control; stability; state feedback; wheels; LQR controller; Lego Mindstorms NXT 2.0 kit; MATLAB environment; control gain tuning; gyro sensor; linear quadratic regulator; state feedback controller design; two wheel encoders; two wheeled balancing robot; two wheeled self balancing robot stabilization; Electronic mail; Force; MATLAB; Mathematical model; Robots; Robustness; Sensors;
Conference_Titel :
Multi-Topic Conference (INMIC), 2014 IEEE 17th International
Print_ISBN :
978-1-4799-5754-5
DOI :
10.1109/INMIC.2014.7097367