LQR controller design for two-wheeled robot with a movable seat
(0) A two-wheeled robot with a movable seat is proposed in this paper, which can turn with zero-radius and whose seat can move up and down, front and back. Firstly, the overall structure and the control system of the robot is introduced; secondly, a new filtering method called RC and Kalman filtering method is designed to get the posture of the robot; then, the robots dynamics model is established by Lagranges function method and locally linearized; finally, the LQR controller is developed to make the robot walk straight on the flat ground and verified in MATLAB/Simulink. Simulation results show that the dynamic model and the LQR controller are effective.
two-wheeled robot movable seat RC-Kalman filter LQR controller
Wenzeng Guo Xueshan Gao Shigong Jiang Chengguo Zong Fuquan Dai
Beijing Institute of Technology, Beijing,100081,China Beijing Institute of Technology, Beijing,100081,China;Harbin Institute of Technology, Harbin 150001,
国际会议
长沙
英文
5248-5253
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）