PID and LQR Control for Two-Wheeled Vehicles with Hand Sensors

Abstract:

This paper studies the control of a two-wheeled vehicle which is similar to an inverted pendulum system and has hand sensors to make right and left turns. Because the two-wheeled vehicle is unstable and its load is uncertain, PID and LQR controllers are used to stabilize the uncertain and unstable plant. Moreover, the two controllers can make it move forwards and backwards, and turn left and right. The two controllers are implemented into a microcontroller, and the microcontroller outputs appropriate control signals to drive the two-wheeled vehicle according to the three-axis accelerometer and gyroscope sensors. Finally, we verify the controllers' efficiency and compare the difference between above two controllers.

• Periodical: Applied Mechanics and Materials (Volume 665)
• Pages: 619-622
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.665.619
• Online since: October 2014
• Authors: Dian Rong Li, Yih Guang Leu*, Yan Hou Wen
• Keywords: LQR Controller, PID Controller, Two-Wheeled Vehicles

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