A Control of Balancing Robot

밸런싱 로봇 제어

  • 민형기 (창원대학교 제어계측공학과) ;
  • 김지훈 (창원대학교 제어계측공학과) ;
  • 윤주한 (창원대학교 제어계측공학과) ;
  • 정은태 (창원대학교 제어계측공학과) ;
  • 권성하 (창원대학교 제어계측공학과)
  • Received : 2010.08.16
  • Accepted : 2010.10.14
  • Published : 2010.12.01


This paper shows to stabilize a balancing robot. We derive the dynamics of a balancing robot and design its controller using LQR method. For stabilizing balancing robot, we introduce a method to detect an angle using inertial sensors. In this study, we use a complementary filter to fuse signals by frequency response of gyroscope and accelerometer in order to measure the inclined angle of balancing robot. The filter coefficients are obtained by least square to minimize error in angle-detecting filter design. And then, after we derive a dynamics of balancing robot using Lagrange method, we linearize that dynamics for using LQR method.


Supported by : 국립창원대학교


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