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Robotics & Control
Steady-State Analysis of Two-Wheel-Based Self-Balancing Robot Using LQR
Mathematical modeling, state-space representation, LQR controller design, tuning, and response evaluation for a self-balancing robot.
LQRState SpaceMATLABSimulinkControl Systems
- Status
- Completed / Research
- Timeline
- Completed research project
- Period
- Research project
Tools
MATLABSimulinkState-space modelingLQR
Related skills
Control theoryLQRMATLAB/SimulinkState-space modeling
Problem
A two-wheeled self-balancing robot is inherently unstable and requires a controller that can regulate multiple state variables simultaneously.
Approach
- Develop mathematical and state-space models for the balancing dynamics.
- Design and tune an LQR controller for full-state feedback stabilization.
- Evaluate response behavior through MATLAB/Simulink simulations.
Outcomes
- Completed controller design workflow for an unstable robotic platform.
- Improved understanding of model-based control tuning and steady-state response evaluation.
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