A selection of PID type controller settings via LQR approach for two-wheeled balancing robot

Laddach, Krzysztof; Czyżniewski, Mateusz; Łangowski, Rafał

doi:10.1109/mmar49549.2021.9528471

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2022

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“…A continuous-time non-linear mathematical model of the two-wheeled balancing robot is given by [43]:…”

Section: Problem Statementmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Laddach

Łangowski

Zubowicz

2022

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A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, α-β type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.

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“…A continuous-time non-linear mathematical model of the two-wheeled balancing robot is given by [43]:…”

Section: Problem Statementmentioning

confidence: 99%