A design for two-wheeled self-balancing robot based on Kalman filter and LQR

Abstract

This paper introduces a method to control a two-wheeled self-balancing robot based on Kalman filter and LQR algorithm. It is incorporated with hardware design, signal processing and control algorithm design. In this system the angle signals from a gyroscope and an accelerometer, disposed by Kalman filter, are combined with LQR controller to accomplish the… (More)

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