Objective

The objective is to make a remote control robot capable of balancing itself using Linear Quadratic Regulator (LQR) Control.

Components

• Arduino Mega
• MPU 6050 (Accelerometer + Gyroscope)
• DC Motors with quadrature encoders
• Xbee Module
• Motor Driver (L298N)
• 12V Lipo Battery
• Chassis
• Breadboard
• Wheels

3D Model of Chassis

• 3D Modelling of the robot is done in the solidworks, and those files are available in 3D Model folder.

Mathematical Model

• Derivations are given in the folder Mathematical Model.

• State-Space Equation

Control Architecture

• Filter

Code Structure

main.ino

• This is the file in which code for controlling Arduino Mega is written.

Encoders

• In these files, class of encoders is defined.
• X4 encoding is used.

Motor

• In these files, class of motor is defined.
• Encoder is a inner class of motor.

TimerInterruptsLib

• Timers 3, 4, and 5 are initialized in this library.

RCModule

• In this files, class of Xbee is defined.

Octave

• In this files, dicrete state-space model of robot is calculated from its continuous state-space model.
• State variables are simulated from given Q and R matrix.

Requirements

• Arduino IDE

  • digitalWriteFast.h
  • MPU6050
  • MPULib
  • I2C
  • I2Cdev

• Octave

  • "control" package