State space based robotic control design and implementation

• Main Author: Bay, Si Yao
• Other Authors: Vun Chan Hua, Nicholas
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/66743
• Institution: Nanyang Technological University

This project presents the development of a microcontroller-based 2-wheel self-balancing robotic system using the state-space modelling technique. The digital control algorithm used is based on Linear Quadratic Regulator (LQR) as it is commonly used for state-space representation based digital contro...