Optimal Controller Design for Two Wheel Mobile Robot

Abstract

In this paper we worked on Two-Wheel Inverted Pendulum (TWIP). It is highly non-linear, unstable and strong coupling system. Two wheel self balancing robot is based on this concept. During simulation, transfer function is displayed on MATLAB-2016 software. This all work is based on the study of various controllers on Two Wheel Self Balancing Robot (TWSBR). The model is designed on the basis of state space the Mathematical Modeling of Controllers ie LQG & MPC, is well designed and show the comparison in between these two controller. The basic aim of designing this paper is to originate an efficient controller to operate robot in real time environment. The designed LQG controller has better performance and the designed MPC has the best results.