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http://dx.doi.org/10.5573/ieie.2014.51.2.190

Design of Balancing Robot Controller using Optimal Control Method  

Yeo, Hee-Joo (Department of Electronics Eng., Daejin University)
Park, Hun (Department of Electronics Eng., Daejin University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.51, no.2, 2014 , pp. 190-196 More about this Journal
Abstract
In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.
Keywords
Balancing Robot; LQR Controller; PID Controller;
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