NDLI: The LQR control and design of dual-wheel upright self-balance Robot

Content Provider	IEEE Xplore Digital Library
Author	Jianwei Xiaogang
Copyright Year	2008
Description	Author affiliation: Coll. of Electron. & Control Eng., Beijing Univ. of Technol., Beijing (Jianwei; Xiaogang)
Abstract	The structure and mathematical modeling of a dual-wheel upright self-balance robot are studied. The simulation and the real experiment of robot are done. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two high precision DC servo motors with photoelectric encoder. Direct current servo control system of PWM based on application of pulse width modulation DC-DC converters. Gyro scope and angle sensors are used for posture observation. On the basis of building up the system structure model, the system mathematical model is built up using dynamics mechanics theory and method. The optimal controller LQR (the state2feed back controller) is designed on Matlab the system has good robust. By using TML language it is convenient to program and debug all kinds of arithmetic on IPM100. The stability of system is proved by simulation results. The real robot as human being can realize all kinds of walking control. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype. Building a self-learning robot.
Starting Page	4864
Ending Page	4869
File Size	324390
Page Count	6
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4593712
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Mathematical model Robot sensing systems Mobile robots Pulse width modulation Buildings Wheels LQR control Dual-wheel upright self-balance Robot mathematic modeling posture control posture observation
Content Type	Text
Resource Type	Article

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