Research of LQR Controller Based on Two-Wheeled Self-Balancing Robot

被引：1

作者：

Lv Qiang ^{[1
]}

Wang Ke-ke ^{[1
]}

Wang Guo-sheng ^{[1
]}

机构：

[1] Acad Armored Force Engn, Dept Control Engn, Beijing 100072, Peoples R China

来源：

CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年

关键词：

Self-Balancing Robot; LQR Controller; Control Algorithm;

D O I：

10.1109/CCDC.2009.5192771

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2343 / 2348

页数：6