The system design and LQR control of a two-wheels self-balancing mobile robot

Author

Xu, Changkai ; Li, Ming ; Pan, Fangyu

Author_Institution

Robot. Center, Shanghai Univ., Shanghai, China

fYear

2011

fDate

16-18 Sept. 2011

Firstpage

2786

Lastpage

2789

Abstract

This paper describes the control method and mathematical model of a two-wheels self-balancing mobile robot. The mobile robot designed by author uses two parallel wheels to keep balance and uses a three axes gyroscope as position, velocity and accelerated speed detection sensor. This paper presents the mathematical modeling of two wheels inverted pendulum mobile robot. The dynamic model of the system has been established to design and analyze the control system. The control program and the controller LQR are designed in Lab VIEW module.

Keywords

control system analysis; control system synthesis; gyroscopes; linear quadratic control; mobile robots; nonlinear control systems; position control; sensors; velocity control; LQR control; LabVIEW module; accelerated speed detection sensor; control system analysis; control system design; inverted pendulum mobile robot; parallel wheel; position sensor; three axes gyroscope; two-wheel self-balancing mobile robot; velocity sensor; Equations; Kinetic energy; Mathematical model; Mobile robots; Wheels; LQR control; LabVIEW; mathematical model; two-wheels self-balancing mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2011 International Conference on

Conference_Location

Yichang

Print_ISBN

978-1-4244-8162-0

Type

conf

DOI

10.1109/ICECENG.2011.6057680

Filename

6057680