Embedded LQR controller design for self-balancing robot
| dc.contributor.author | Engin M. | |
| dc.date.accessioned | 2019-10-26T21:14:47Z | |
| dc.date.available | 2019-10-26T21:14:47Z | |
| dc.date.issued | 2018 | |
| dc.department | Ege Üniversitesi | en_US |
| dc.description | 7th Mediterranean Conference on Embedded Computing, MECO 2018 -- 10 June 2018 through 14 June 2018 -- 137785 | en_US |
| dc.description.abstract | 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. | en_US |
| dc.identifier.doi | 10.1109/MECO.2018.8405959 | |
| dc.identifier.endpage | 4 | en_US |
| dc.identifier.isbn | 9781538656822 | |
| dc.identifier.scopusquality | N/A | en_US |
| dc.identifier.startpage | 1 | en_US |
| dc.identifier.uri | https://doi.org/10.1109/MECO.2018.8405959 | |
| dc.identifier.uri | https://hdl.handle.net/11454/15898 | |
| dc.indekslendigikaynak | Scopus | en_US |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | 2018 7th Mediterranean Conference on Embedded Computing, MECO 2018 - Including ECYPS 2018, Proceedings | en_US |
| dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | complementary filter | en_US |
| dc.subject | embedded system | en_US |
| dc.subject | inertial measuring unit | en_US |
| dc.subject | LQR controller | en_US |
| dc.subject | self-balancing two-wheeled robot | en_US |
| dc.title | Embedded LQR controller design for self-balancing robot | en_US |
| dc.type | Conference Object | en_US |
