Do, Quoc-Thinh and Tran, Van-Thanh and Ngo, Minh-Thai and Tran, Minh-Quan and Thiem, Quan-Linh and Nguyen, Hoang-Son and Pham, Ba-Khoi and Phan, Nguyen-Phuoc-An and Nguyen, Duy-Hieu and Nguyen, Duc-Hoc and Nguyen, Van-Hoc and Tran, Ho-Minh-Quang and Le, ThiHongLam (2024) Modeling and Optimal Control for Two-Wheeled Self-Balancing Robot. Journal of Fuzzy Systems and Control, 2 (1). pp. 22-28.
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Abstract
The two-wheeled self-balancing robot based on an inverted pendulum model is a nonlinear object with uncertain parameters that are difficult to control with 6 state variables. This is a multiple input-multiple output (MIMO) under-actuated system that is very complex and causes many challenges for the operator. This paper analyzed the mathematical equation of a two-wheeled self-balancing robot vehicle system. Then, the Linear Quadratic Regulator (LQR) control is applied to the system through simulation on Matlab/Simulink and experiment. The results show that the LQR algorithm has been successfully applied in many moving cases.
| Item Type: | Article |
|---|---|
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Depositing User: | JFSC PTTI |
| Date Deposited: | 26 Jun 2026 13:37 |
| Last Modified: | 26 Jun 2026 13:37 |
| URI: | https://alxiv.org/id/eprint/1154 |
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