DocumentCode
651174
Title
Implementation of unicycle segway using unscented Kalman filter in LQR control
Author
Miseon Han ; Kyunghwan Kim ; Do Youn Kim ; Jaesung Lee
Author_Institution
Dept. of Electron. Eng., HanNam Univ., Daejeon, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
695
Lastpage
698
Abstract
In this paper, we design a stable controller, using LQR method in order to achieve unicycle Robot´s balance by using unscented Kalman filter. After linearizing the derived Dynamics, LQR controller is designed. By performing simulations in MATLAB (MATLAB, MathWorks, USA) to apply to the physical model, the precise attitude control of the unicycle segway was possible.
Keywords
Kalman filters; attitude control; bicycles; control system synthesis; linear quadratic control; mobile robots; nonlinear filters; robot dynamics; stability; LQR control design; MATLAB; precise attitude control; stable controller; unicycle robot balance; unicycle segway; unscented Kalman filter; LQR controller; Unicycle segway; Unscented Kalman Filter;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677427
Filename
6677427
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