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Building self-balancing robot using LQR controller

License: MIT License

C++ 63.33% C 22.51% MATLAB 11.47% Processing 2.70%

lqr-balancebot's Introduction

LQR-BalanceBot

LQR-BalanceBot is a two wheel self-balancing robot, based on Arduino Mega. It uses Linear-Quadratic-Regulator, an optimal controller which optimizes a cost function using energy-based method to give optimum gains according to our requirements. A six-state variable state space model has been designed to control position, velocity, yaw (using Quadrature encoders), and tilt angle (using GY-87 sensor) of the bot.

Video Demonstration

https://youtu.be/7lbDvhHPumI

Results Snapshots

Traversing slope

drawing drawing drawing

Object pick up and drop

drawing drawing drawing

Position hold

drawing

Control Architecture

architecture

Contributors

Akshay S Rao, Aliasgar AV, Ankit Kumar, Mohammed Rehab Sait.

Repository Contents

  • Libraries: Contains MPU and I2C libraries
  • code: Contains the code for controlling the bot
  • Model: Contains code files for Mathematical modelling of Robot
  • Report: Documentation on the working of the robot and all the task submissions
  • Images: contains images

lqr-balancebot's People

Contributors

iamakshayrao avatar

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