LQR and MPC controller design and comparison for a stationary self-balancing bicycle robot with a reaction wheel

摘要: A self-balancing bicycle robot based on the concept of an inverted pendulum is unstable and nonlinear system. To stabilize system in this work, following three main components are required, i. e., (1) IMU sensor that detects tilt angle robot, (2) a controller used to control motion reaction wheel, (3) wheel employed produce reactionary torque balance robot. In paper, we propose strategies: linear quadratic regulator (LQR), model predictive (LMPC), (NMPC). Several simulation tests have been conducted order show our proposed laws can achieve stabilizaton make balance. Furthermore, LMPC NMPC controllers deal with state input constraints explicitly.