Optimal Outer-Loop Position Controller for Two-Wheeled Mobile Balancing Robot Based-on Off-Line optimization Technique

摘要

This study proposes an off-line optimization technique based position controller for two-wheeled mobile balancing robot (2-WMBR) applications. The contribution of this article is to systematically design the outer-loop system through a surface analysis method, which is a kind of offline optimization techniques, without robot parameters. The classical linear quadratic regulator (LQR) technique is applied to the inner-loop system without any modification. The LEGO Mindstorms controlled by the MATLAB/Simulink software is used to confirm the efficacy of the proposed technique.