Title :
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
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;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location :
Yichang
Print_ISBN :
978-1-4244-8162-0
DOI :
10.1109/ICECENG.2011.6057680
