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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
sketch Initial commit May 21, 2014
1.pdf Initial commit May 21, 2014
Конференция МИЭМ 02.2014.pdf
Управление перевернутым маятником на колесах по первому приближению.pdf


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.


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.


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