Design and LQ Control of a two-wheeled self-balancing robot

Abstract

The Artificial Intelligence and Robot Laboratory at the Beijing University of Technology, has built a two-wheeled Self-balancing robot which includes a digital signal processor as controller, a gyroscope and an inclinometer and two motor encoder as sensors, two coaxial dc motors, each of which is coupled with a wheel, as implement. The system mathematical model is built up using dynamics mechanics theory and method. The design of the control routine in simulation and DSP both employ LQR control strategy to help the robot to keep balance.