Modeling and Optimal Control for Two-Wheeled Self-Balancing Robot
DOI:
https://doi.org/10.59247/jfsc.v2i1.162Keywords:
Two-Wheeled Self-Balancing Robot, MIMO, Optimal Control, LQR Control, Under-Actuated SystemAbstract
The two-wheeled self-balancing robot based on an inverted pendulum model is a nonlinear object with uncertain parameters that are difficult to control with 6 state variables. This is a multiple input-multiple output (MIMO) under-actuated system that is very complex and causes many challenges for the operator. This paper analyzed the mathematical equation of a two-wheeled self-balancing robot vehicle system. Then, the Linear Quadratic Regulator (LQR) control is applied to the system through simulation on Matlab/Simulink and experiment. The results show that the LQR algorithm has been successfully applied in many moving cases.
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Copyright (c) 2024 Quoc-Thinh Do, Van-Thanh Tran, Minh-Thai Ngo, Minh-Quan Tran, Quan-Linh Thiem, Hoang-Son Nguyen, Ba-Khoi Pham, Nguyen-Phuoc-An Phan, Duy-Hieu Nguyen, Duc-Hoc Nguyen, Van-Hoc Nguyen, Ho-Minh-Quang Tran, ThiHongLam Le
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