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

机译：基于两轮自平衡机器人的LQR控制器的研究

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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.

机译：本文介绍了两轮自平衡机器人平台的硬件设计。设置系统的空间坐标后，将进行运动学和动力学分析。然后建立系统模型，并将其作为后续控制理论和方法研究的基础。 LQR控制器被设计为系统控制器，并使用MATLAB进行了仿真。仿真和实验结果表明了LQR控制器的有效性。

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来源
《2009年中国控制与决策会议（2009 Chinese Control and Decision Conference）论文集》|2009年|2343-2348|共6页
会议地点 Guilin(CN)
作者
Lv Qiang; Wang Ke-ke; Wang Guo-sheng;
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作者单位

Department of Control Engineering Academy of Armored Force Engineering Beijing 100072 China;

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关键词
Self-Balancing Robot; LQR Controller; Control Algorithm;

机译：自平衡机器人LQR控制器；控制算法;

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2. Development of a microcontroller-based adaptive fuzzy controller for a two-wheeled self-balancing robot [J] . The Anh Mai, Anisimov D. N., Thai Son Dang, Microsystem technologies . 2018,第9期

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3. Building embedded quasi-time-optimal controller for two-wheeled self-balancing robot [J] . Hai N. Phan, Chiem X. Nguyen MATEC Web of Conferences . 2017,第1期

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4. Research of LQR controller based on Two-wheeled self-balancing robot [C] . Chinese Control and Decision Conference . 2009

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

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