Design and Implementation of Cascade LQR Controller for Stabilization of Two-Wheeled Robot

摘要

In this paper the developed two-wheeled robot and cascade LQR controller, Kalman filters, PI and PID controllers are presented. The cascade LQR controller stabilizes the two-wheeled robot in upright position. The PID controller ensures good tracking of wheel position reference and the PI controller steers two-wheeled robot rotation around the vertical axis. A software in MATLAB?/Simulink environment intended for design and generation of control code which is embedded in a Texas Instruments Digital Signal Controller is developed. Simulation and experimental results of system performance are given that confirm the efficiency of the control system developed.