Modelling and Control of a Self-Balancing Robot Using Sensor Fusion and LQR Controller.
Ahmed RabieDoha ThabetIbrahim AbdellatifKariman ElsayedMarwa ElbadawyRaafat ShalabyPublished in: NILES (2022)
Keyphrases
- sensor fusion
- mobile robot
- motion control
- optimal control
- control system
- robotic manipulator
- control architecture
- closed loop
- visual servoing
- inverted pendulum
- trajectory tracking
- robot control
- control method
- robotic systems
- control signals
- biped robot
- autonomous robots
- linear quadratic
- feedback control
- control strategy
- multiple sensors
- control loop
- real time
- legged robots
- reference trajectory
- adaptive control
- path planning
- control law
- control theory
- wheeled mobile robot
- sliding mode
- robot manipulators
- control algorithm
- dc dc converter
- control scheme
- inertial sensors
- force control
- multi sensor
- pid controller
- control strategies
- sliding mode control
- vision system
- neural network controller
- quadruped robot
- biped walking
- controller design
- fuzzy logic controller
- cscw systems
- central pattern generator
- pid control
- end effector
- robot arm
- degrees of freedom
- dynamic programming
- multiscale