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An arduino balancing robot with LQR control
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Matlab Merge pull request #1 from torip3ng/master Apr 13, 2016
Wheelee
sketch Initial commit May 21, 2014
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1.pdf Initial commit May 21, 2014
README.md
miemConferention02.2014.pdf
Конференция МИЭМ 02.2014.pdf
Управление перевернутым маятником на колесах по первому приближению.pdf

README.md

Wheelee

Arduino inverted pendulum robot that use LQR control. Author: Alexander Semion

Mathematical model

The model development is described in article(Russian). The model was created in Matlab Simulink it is saved in balancer.slx.

Hardware

Robot uses

  • L3G gyroscope
  • LSM303 accelerometer and magnetometer
  • DualVNH5019 Motor Shield
  • Motors with encoders
  • HC-05 bluetooth

Arduino sketch

The arduino sketch is located in sketch folder.

Documentation

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