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

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

Currently, the bot can balance on two-wheel. We're tuning the parameters to improve the balance. We are also working on the Xbee based remote parallelly.

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

• Derivations are given in the folder Mathematical Model.

• State-Space Equation

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

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

• In these files, class of motor is defined.
• Each motor object has an encoder attribute.

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

• In this files, class of Xbee is defined.

• Arduino IDE

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

• Octave

  • "control" and "symbolic" package