Stabilizing control for two-wheeled self balancing robot
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sontrn@hcmute.edu.vnKeywords:
Self-balancing two-wheeled robot, slide control, LQR . control, moving inverted pendulumAbstract
The paper proposes controllerdesign for two-wheeled self balancing robot based on LQR and sliding mode control. Two-wheeled self balancing robot is modeled as an mobile inverted pendulum system.It is composed of an inverted pendulum and a chassis with two coaxial wheels.The sliding mode controllerand LQRare designed to stabilize the robot at upright position under straight-line motion. The designed controller stabilizes the robotbased on the linearized model. The simulation results are presented to show the effectiveness of the proposed controllers.The sliding mode controller is more stablized than the LQR in case of external disturbances. The experimentresults show that the LQR and sliding mode controller provide the ability to keep the robot uprightfor a long time
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