2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) | 2021
Control of TWIR using LQR Controller and Compound Disturbance Observer
Abstract
In this paper, a LQR controller in combination with compound disturbance observer was designed and applied for a two-wheeled inverted pendulum robot (TWIR) in laboratory. The experimental results showed that the designed controller was able to handle with model s uncertainty and unknown input disturbance.