{"title":"Research of LQR controller based on Two-wheeled self-balancing robot","authors":"Lv Qiang, Wang Ke-ke, Wang Guo-sheng","doi":"10.1109/CCDC.2009.5192771","DOIUrl":null,"url":null,"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.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Chinese Control and Decision Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2009.5192771","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
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.
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