Title :
LQR control for a self-balancing unicycle robot
Author :
Daoxiong Gong ; Qi Pan ; Guoyu Zuo ; Wenbo Deng
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Chaoyang, China
Abstract :
A self-balancing unicycle robot, which has a wheel for balancing and movement in the longitudinal plane (pitch angle) as well as a flywheel for balancing in the lateral plane (roll angle), is studied in this paper. The non-linear dynamic equations of the unicycle robot on a slope are analyzed using the Lagrangian dynamic formulation, then a linear model of the robot is derived at the equilibrium point, and 3 linear quadratic regulators (LQR) are designed to control the robot on slopes with the angle of inclination varying from -11°to 11°. Simulation results validated that the unicycle robot can achieve good performance both on level plane and on slope.
Keywords :
control system synthesis; flywheels; linear quadratic control; mobile robots; nonlinear equations; position control; wheels; LQR control; LQR design; Lagrangian dynamic formulation; flywheel; linear model; linear quadratic regulators; nonlinear dynamic equations; self-balancing unicycle robot; wheel balancing; wheel movement; Angular velocity; Flywheels; Mobile robots; Robot kinematics; Simulation; Wheels; LQR; Modeling; Self-balancing Robot; Simulation; Unicycle Robot; slope climbing;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358103
