Research of LQR Controller Based on Two-Wheeled Self-Balancing Robot
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.
Self-Balancing Robot LQR Controller Control Algorithm
Lv Qiang Wang Ke-ke Wang Guo-sheng
Department of Control Engineering, Academy of Armored Force Engineering, Beijing 100072, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2343-2348
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）