Navigation of Mobile Inverted Pendulum via Wireless control using LQR Technique

Mobile Inverted Pendulum (MIP) is a non-linear robotic system. Basically it is a Self-balancing robot working on the principle of Inverted pendulum, which is a two wheel vehicle, balances itself up in the vertical position with reference to the ground. It has four configuration variables (Cart position, Cart Velocity, Pendulum angle, Pendulum angular velocity) to be controlled using only two control inputs. Hence it is an Under-actuated system. This paper focuses on control of translational acceleration and deceleration of the MIP in a dynamically reasonable manner using LQR technique. The body angle and MIP displacement are controlled to maintain reference states where the MIP is statically unstable but dynamically stable which leads to a constant translational acceleration due to instability of the vehicle. In this proposal, the implementation of self balancing robot with LQR control strategy and the implementation of navigation control of the bot using a wireless module is done. The simulation results were compared between PID control and LQR control strategies