A 2-wheel self-balancing robot

• Main Author: Alfred Setiadi
• Other Authors: Vun Chan Hua, Nicholas
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Computer science and engineering::Hardware::Control structures and microprogramming
• Online Access: http://hdl.handle.net/10356/62713
• Institution: Nanyang Technological University

This project involves the development of a microcontroller based controller for a 2-wheel self-balancing robot, where the digital feedback control is based on a Linear Quadratic Regulator (LQR) algorithm using a state-space representation to model the dynamics of the system. The initial process...