차륜형 역진자 자세 제어기 구현을 위한 시뮬레이션

In this research a computer simulation for implementing attitude controller of Wheeled Inverted Pendulum is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. In order to keep the naturally unstable equivalent point, it should be controlling the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering tilted road as one of various road conditions. A Linear Quadratic Regulator is adopted for the attitude controller since it is easy to obtain full state variables from the sensors for that control scheme and based on controllable condition of the destination as well. Various computer simulation shows that the LQR controller is doing well not only nat road but also tilted road.