Design of an underactuated self balancing robot using linear quadratic regulator and integral sliding mode controller

Abstract

This paper describes the design procedure of an underactuated self balancing robot using LQR and ISMC. The two wheeled self balancing robot works on the principle of inverted pendulum concept so it is otherwise referred to as two wheeled inverted pendulum mobile robot. The two WMR is widely used in many applications such as a personal transport system (Segway), robotic wheelchair, baggage transportation and navigation etc. LQR and ISMC are introduced into the system in order to achieve the set point control task. That is the 2 WMR should reach the desired set point and then stops while keeping the balance. Both the controller will track the system but the performance of the controller slows some slight differences. By using the MATLAB simulation, two methods are compared and discussed. Also the load transportation task is also assigned to this 2 WMR and controlled using LQR controller.