Title :
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
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;
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
DOI :
10.1109/CCDC.2009.5192771
