One-wheeled balance bike design based on LQR control algorithm
Year: 2025
Type: conference-paper
Abstract: As an important research object in the field of balance control, the one-wheeled balance scooter is highly nonlinear and unstable, and this study proposes a scheme based on the Lagrange model with the LQR control algorithm. The decoupling of roll-yaw axis dynamics is achieved by momentum wheel structure equivalence, and the state weight matrix is optimized so that the system can be quickly corrected under a 10° initial offset. The physical verification is based on the chip platforms of Infineon and ST, and the response speed and recovery ability of the system under external perturbation are tested.
Authors: Xingyuan Wang, Xiaoxin Zhang
Institution: Shenyang Aerospace University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4413154208