@inproceedings{49404f261b8a4481bda1cfa36a12163f,
title = "LQR controller design for two-wheeled robot with a movable seat",
abstract = "A two-wheeled robot with a movable seat is proposed in this paper, which can turn with zero-radius and whose seat can move up and down, front and back. Firstly, the overall structure and the control system of the robot is introduced; secondly, a new filtering method called RC and Kalman filtering method is designed to get the posture of the robot; then, the robot's dynamics model is established by Lagrange's function method and locally linearized; finally, the LQR controller is developed to make the robot walk straight on the flat ground and verified in MATLAB/Simulink. Simulation results show that the dynamic model and the LQR controller are effective.",
keywords = "LQR controller, RC-Kalman filter, movable seat, two-wheeled robot",
author = "Wenzeng Guo and Xueshan Gao and Shigong Jiang and Chengguo Zong and Fuquan Dai",
year = "2014",
doi = "10.1109/CCDC.2014.6853117",
language = "English",
isbn = "9781479937066",
series = "26th Chinese Control and Decision Conference, CCDC 2014",
publisher = "IEEE Computer Society",
pages = "5248--5253",
booktitle = "26th Chinese Control and Decision Conference, CCDC 2014",
address = "United States",
note = "26th Chinese Control and Decision Conference, CCDC 2014 ; Conference date: 31-05-2014 Through 02-06-2014",
}