@inproceedings{f8920659ad224425be5579713d201f37,
title = "Modeling and LQR control of a multi-DOF two-wheeled robot",
abstract = "A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control input instead of state variable. With the dynamic model, a LQR controller is designed for achieving the desired velocity of the robot while stabilizing the central body. Simulation and physical prototypes are established to prove the veracity of the model and confirm the validity of the designed controller.",
keywords = "Balance control, Dynamic model, LQR controller, Two-wheeled robot",
author = "Shigong Jiang and Fuquan Dai and Ling Li and Xueshan Gao",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",
year = "2014",
month = apr,
day = "20",
doi = "10.1109/ROBIO.2014.7090624",
language = "English",
series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1964--1969",
booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",
address = "United States",
}