Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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LQR Controller Design for Balancing and Driving Control of a Bicycle Robot

자전거로봇의 균형제어 및 주행제어를 위한 LQR 제어기 설계

  • Kang, Seok-Won (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Park, Kyung-Il (School of Electronic Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Interdisciplinary Program in Robotics, Pusan National University)
  • 강석원 (부산대학교 로봇관련협동과정) ;
  • 박경일 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 로봇관련협동과정)
  • Received : 2013.11.19
  • Accepted : 2014.03.04
  • Published : 2014.05.01
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Abstract

This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated.

Keywords

Acknowledgement

Supported by : 정보통신산업진흥원, 한국연구재단

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