PID and LQR control for two-wheeled vehicles with hand sensors

Dian Rong Li, Yih-Guang Leu, Yan Hou Wen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the control of a two-wheeled vehicle which is similar to an inverted pendulum system and has hand sensors to make right and left turns. Because the two-wheeled vehicle is unstable and its load is uncertain, PID and LQR controllers are used to stabilize the uncertain and unstable plant. Moreover, the two controllers can make it move forwards and backwards, and turn left and right. The two controllers are implemented into a microcontroller, and the microcontroller outputs appropriate control signals to drive the two-wheeled vehicle according to the three-axis accelerometer and gyroscope sensors. Finally, we verify the controllers' efficiency and compare the difference between above two controllers.

Original languageEnglish
Title of host publicationMaterials Science and Processing, Environmental Engineering and Information Technologies
EditorsGurumurthy Hegde
PublisherTrans Tech Publications Ltd
Pages619-622
Number of pages4
ISBN (Electronic)9783038352709
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 International Conference on Application of Materials Science and Environmental Materials, AMSEM 2014 - Yichang, China
Duration: 2014 Jul 42014 Jul 6

Publication series

NameApplied Mechanics and Materials
Volume665
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2014 International Conference on Application of Materials Science and Environmental Materials, AMSEM 2014
CountryChina
CityYichang
Period14/7/414/7/6

Keywords

  • LQR controller
  • PID controller
  • Two-wheeled vehicles

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Li, D. R., Leu, Y-G., & Wen, Y. H. (2014). PID and LQR control for two-wheeled vehicles with hand sensors. In G. Hegde (Ed.), Materials Science and Processing, Environmental Engineering and Information Technologies (pp. 619-622). (Applied Mechanics and Materials; Vol. 665). Trans Tech Publications Ltd. https://doi.org/10.4028/www.scientific.net/AMM.665.619