Simulation and control of a two-wheeled self-balancing robot

Wei An, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

19 Citations (Scopus)

Abstract

A two-wheeled self-balancing robot is a special type of wheeled mobile robot, its balance problem is a hot research topic due to its unstable state for controlling. In this paper, human transporter model has been established. Kinematic and dynamic models are constructed and two control methods: Proportional-integral-derivative (PID) and Linear-quadratic regulator (LQR) are implemented to test the system model in which controls of two subsystems: self-balance (preventing system from falling down when it moves forward or backward) and yaw rotation (steering angle regulation when it turns left or right) are considered. PID is used to control both two subsystems, LQR is used to control self-balancing subsystem only. By using simulation in Matlab, two methods are compared and discussed. The theoretical investigations for controlling the dynamic behavior are meaningful for design and fabrication. Finally, the result shows that LQR has a better performance than PID for self-balancing subsystem control.
Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
PublisherIEEE Computer Society
Pages456-461
Number of pages6
DOIs
Publication statusPublished - 1 Jan 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: 12 Dec 201314 Dec 2013

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period12/12/1314/12/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

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