Abstract

• The concept of two-wheel self-balancing robot is based on an Inverted pendulum (IP) on a cart. The control of an IP has been the most popular benchmark, among others, for teaching and researches in control theory and robotics. The implemented control technique is full state feedback control, Linear Quadratic Regulator (LQR). The LQR algorithm is essentially an automated way of finding an appropriate state-feedback controller. The full state system information about the position and velocity of the cart are obtained from encoder on dc motor and angular position and angular velocity of the pendulum are obtained from IMU sensor MPU6050. A complimentary filter was used to weigh the accelerometer and gyro signals together to determine the pitch angle. This two-wheel self-balancing robot was implemented by using the Arduino Mega microcontroller. The microcontroller can be programmed with the Mathworks® Simulink® program using the Rensselaer Arduino Support Package.