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In this paper, we propose a new dynamic model of the balancing robot, and present the implementation method and results of the controller based on this model. The model equation of the system is derived through the Lagrangian approach. The model for tracking control of balancing robot is proposed, of which tracking reference is added as state, and implemented through LQR controller. The dynamic model proposed in this paper has the acceleration of robot body as the control input, unlike the conventional model which uses the torque or voltage as the control input. The acceleration from the LQR controller is transformed to the velocity reference of a motor and this value is applied to the real system through motor velocity controller. The motor velocity controller could be separated from the LQR controller making control reference. Therefore, the entire control could be easily implemented by changing only the motor velocity controller depending on the motor used in a balancing robot. The performance of the entire controller can be improved by controlling velocity accurately. To verify usefulness and reliability of this proposed model, two balancing robots, one of which uses step motors and the other of which uses DC motors, are implemented and results for balancing and tracking control are presented.

Controller Implementation of a Balancing Robot through a Dynamic Model with Acceleration Control Input