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http://dx.doi.org/10.5302/J.ICROS.2014.13.1985

LQR Controller Design for Balancing and Driving Control of a Bicycle Robot  

Kang, Seok-Won (Department of Interdisciplinary Program in Robotics, Pusan National University)
Park, Kyung-Il (School of Electronic Engineering, Pusan National University)
Lee, Jangmyung (Department of Interdisciplinary Program in Robotics, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.5, 2014 , pp. 551-556 More about this Journal
Abstract
This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated.
Keywords
bicycle robot; LQR control; dynamics; reaction wheel pendulum; balancing control;
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Times Cited By KSCI : 4  (Citation Analysis)
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