Embedded LQR controller design for self-balancing robot
Küçük Resim Yok
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This study aims at designing an embedded controller that can stabilize custom designed self-balancing two-wheeled robot (TWSBR) using velocity feedback alone. A state-space model for the custom designed TWSBR is obtained through dynamic analysis using a Lagrangian method. System identification experiments are proposed and performed to identify the parameters of the model. Based on the identified model, an LQR controller, which is a combination of optimal estimation and optimal control, is designed and implemented that can successfully stabilize TWSBMR. At last, few tests are carried out to evaluate the performance of the controller, showing how the proposed LQR controller outperforms classical controller in many aspects. © 2018 IEEE.
Açıklama
7th Mediterranean Conference on Embedded Computing, MECO 2018 -- 10 June 2018 through 14 June 2018 -- 137785
Anahtar Kelimeler
complementary filter, embedded system, inertial measuring unit, LQR controller, self-balancing two-wheeled robot
Kaynak
2018 7th Mediterranean Conference on Embedded Computing, MECO 2018 - Including ECYPS 2018, Proceedings
WoS Q Değeri
Scopus Q Değeri
N/A
