LQR-BalanceBot is a two wheel self-balancing robot, based on Arduino Mega. It uses Linear-Quadratic-Regulator, an optimal controller which optimizes a cost function using energy-based method to give optimum gains according to our requirements. A six-state variable state space model has been designed to control position, velocity, yaw (using Quadrature encoders), and tilt angle (using GY-87 sensor) of the bot.
Traversing slope
Object pick up and drop
Position hold
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- Libraries: Contains MPU and I2C libraries
- code: Contains the code for controlling the bot
- Model: Contains code files for Mathematical modelling of Robot
- Report: Documentation on the working of the robot and all the task submissions
- Images: contains images