Research on two-wheeled balance car based on improved LQR controller
Yuan J, Chen H, Yong T, Lai X, Chen X. 2022. Research on two-wheeled balance car based on improved LQR controller. 6th Advanced Information Technology, Electronic and Automation Control Conference. IAEAC: Advanced Information Technology, Electronic and Automation Control Conference.
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Conference Paper
| Published
| English
Scopus indexed
Author
Yuan, Jiemin;
Chen, Haiyun;
Yong, Tao;
Lai, Xi;
Chen, XujiaISTA
Abstract
The modern control model of the two-wheeled balancing vehicle is established by rational simplification and linearization and selection of appropriate state space variables. The state space expressions in modern control theory are used to make up for some deficiencies in the classical inverted pendulum model. By constructing the mathematical model of the LQR controller in MATLAB, using Simulink for model design and theoretical simulation analysis according to the actual application scenario, the results show that the improved LQR controller can be used in the autonomous balance control and anti-external interference of the two-wheeled self-balancing vehicle model. Has excellent performance.
Publishing Year
Date Published
2022-11-09
Proceedings Title
6th Advanced Information Technology, Electronic and Automation Control Conference
Publisher
IEEE
Acknowledgement
This work was supported by the Nanchong City School-Science and Technology Strategic Cooperation Project: Research on autonomous navigation technology of mobile robot based on visual SLAM in indoor environment(SXQHJH025); Key technologies for safety inspection of intelligent vehicles in oil and gas chemical production workshops research and design (19SXHZ0022).
Conference
IAEAC: Advanced Information Technology, Electronic and Automation Control Conference
Conference Location
Beijing, China
Conference Date
2022-10-03 – 2022-10-05
IST-REx-ID
Cite this
Yuan J, Chen H, Yong T, Lai X, Chen X. Research on two-wheeled balance car based on improved LQR controller. In: 6th Advanced Information Technology, Electronic and Automation Control Conference. IEEE; 2022. doi:10.1109/iaeac54830.2022.9930026
Yuan, J., Chen, H., Yong, T., Lai, X., & Chen, X. (2022). Research on two-wheeled balance car based on improved LQR controller. In 6th Advanced Information Technology, Electronic and Automation Control Conference. Beijing, China: IEEE. https://doi.org/10.1109/iaeac54830.2022.9930026
Yuan, Jiemin, Haiyun Chen, Tao Yong, Xi Lai, and Xujia Chen. “Research on Two-Wheeled Balance Car Based on Improved LQR Controller.” In 6th Advanced Information Technology, Electronic and Automation Control Conference. IEEE, 2022. https://doi.org/10.1109/iaeac54830.2022.9930026.
J. Yuan, H. Chen, T. Yong, X. Lai, and X. Chen, “Research on two-wheeled balance car based on improved LQR controller,” in 6th Advanced Information Technology, Electronic and Automation Control Conference, Beijing, China, 2022.
Yuan J, Chen H, Yong T, Lai X, Chen X. 2022. Research on two-wheeled balance car based on improved LQR controller. 6th Advanced Information Technology, Electronic and Automation Control Conference. IAEAC: Advanced Information Technology, Electronic and Automation Control Conference.
Yuan, Jiemin, et al. “Research on Two-Wheeled Balance Car Based on Improved LQR Controller.” 6th Advanced Information Technology, Electronic and Automation Control Conference, IEEE, 2022, doi:10.1109/iaeac54830.2022.9930026.
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