Modelling and Experimental Analysis for a two legged Wheel Robot with a Fuzzy LQR Control

Abstract

This study designs and implements a two-legged wheeled robot (TLWR) with an advanced controller that includes a fuzzy supervisor and a linear quadratic regulator (LQR) controller. The designed TLWR has a four-bar linked mechanism employed to support the ability to adjust the height independently of each leg and maintain stability while moving on uneven terrain. Due to uncertainties regarding modelling parameters such as friction coefficience, disturbances and mechanical inaccuracies, these factors can have a negative effect on the system performance. To manage the above challenges the fuzzy LQR controller is designed based on the LQR controller and a fuzzy logic system (FLS). The FLS computes the parameters of the LQR controller according to the posture of the robot. Finally, several experiments have been conducted to evaluate the balance and efficiency of the controller and model of TLWR while moving at varying heights.