OTHER
Design and experimental evaluation of a state feedback controller for two wheeled balancing robot
Mahmood ul Hasan, K. M. Hasan, Muhammad Usman Asad, Umar Farooq, Jason Gu
- Year
- 2014
- Citations
- 5
Abstract
This paper presents an experimental study of a state feedback controller for stabilizing a two wheeled self balancing robot which is constructed from Lego Mindstorms NXT 2.0 kit. A gyro sensor and two wheel encoders help in measuring the robot state. This state information is used by a linear quadratic regulator (LQR) to stabilize the robot. The initial design and validation of LQR controller is carried out in MATLAB environment. The control gains are tuned afterwards for satisfactory real time results.
Keywords
Linear-quadratic regulatorControl theory (sociology)RobotMATLABController (irrigation)EncoderComputer scienceControl engineeringState (computer science)Full state feedback
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991