LQR Stability Control of Scissor Pair Gyro-Stabilized Two Wheel Robot

Abstract

In this paper, two wheel inverted pendulum robot is equipped with scissor pair control moment gyro for stabilization. To relate the equilibrium tilt angle with applied wheels drive torque is presented. Mathematical model representation is divided into two subsystems; stability and locomotion. Stability subsystem is linearized about zero states to obtain its state space model. Linear quadratic regulator "LQR" is used to obtain optimum gains of full-state feedback of the stability subsystem to achieve equilibrium states. Locomotion subsystem is set to be controlled freely with drive torque apart from stability subsystem. Simulation is performed for whole robot non-linear system of equations using MATLAB/SIMULINK software. Results are obtained numerically and analyzed comparatively with another control method of proportional gain.