LQG controller for the LEGO MINDSTORMS EV3 Gyroboy Segway robot
Hughes, TH; Willetts, GH; Kryczka, JA
Date: 14 April 2021
Journal
IFAC-PapersOnLine
Publisher
Elsevier / International Federation of Automatic Control (IFAC)
Publisher DOI
Abstract
This paper details the development of a Segway robot demonstrator for undergraduate and Masters level systems and control courses based on the LEGO MINDSTORMS EV3
robotics platform. The purpose of the demonstrator is to provide a physical and interactive
device for explaining concepts that feature on many systems and control courses, ...
This paper details the development of a Segway robot demonstrator for undergraduate and Masters level systems and control courses based on the LEGO MINDSTORMS EV3
robotics platform. The purpose of the demonstrator is to provide a physical and interactive
device for explaining concepts that feature on many systems and control courses, notably:
model-based control, linearisation, the Linear-Quadratic Regulator (LQR), pole placement, noise
amplification due to differentiation, reference following, Kalman filtering, and the principle of
separation of estimation and control. The demonstrator is designed using a standard LEGO
MINDSTORMS model from the Education EV3 core set—the Gyroboy. This is interfaced
with using the Simulink Support Package for LEGO MINDSTORMS EV3 Hardware. Reference
inputs can be provided from either a keyboard or an Xbox One gamepad. To the best of
our knowledge, this is the first example of the successful implementation of an observerbased reference-following feedback controller for a Segway robot built entirely using LEGO
MINDSTORMS EV3 components, with previous designs being either not observer-based or
based on the now outdated LEGO MINDSTORMS NXT platform
Mathematics and Statistics
Faculty of Environment, Science and Economy
Item views 0
Full item downloads 0
Except where otherwise noted, this item's licence is described as © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0)
Related items
Showing items related by title, author, creator and subject.
-
The effect of dietary nitrate supplementation on the oxygen cost of cycling, walking performance and resting blood pressure in individuals with chronic obstructive pulmonary disease: A double blind placebo controlled, randomised control trial
Shepherd, AI; Wilkerson, DP; Dobson, Lee; et al. (Elsevier, 13 January 2015)Chronic obstructive pulmonary disease (COPD) results in exercise intolerance. Dietary nitrate supplementation has been shown to lower blood pressure (BP), reduce the oxygen cost of exercise, and enhance exercise tolerance ... -
Fault tolerant control using sliding modes with on-line control allocation
Alwi, Halim; Edwards, Christopher (Elsevier, 1 July 2008)This paper proposes an on-line sliding mode control allocation scheme for fault tolerant control. The effectiveness level of the actuators is used by the control allocation scheme to redistribute the control signals to the ... -
The effect of dietary nitrate supplementation on the oxygen cost of cycling, walking performance and resting blood pressure in individuals with chronic obstructive pulmonary disease: A double blind placebo controlled, randomised control trial
Shepherd, Anthony; Wilkerson, Daryl; Dobson, Lee; et al. (Elsevier, 13 January 2015)Background Chronic obstructive pulmonary disease (COPD) results in exercise intolerance. Dietary nitrate supplementation has been shown to lower blood pressure (BP), reduce the O2 cost of exercise, and enhance exercise ...