Minisegway

The project goal is to create a control system that will be able to balance this mini Segway. 

The steps involves in this project including, dynamic system modeling, controller design and simulation, and hardware implementation. 

Full-State Feedback

with

LQR Controller

Simulink block diagram of the segway with LQR controller. 

The inv_pend in MATLAB Function block is the dynamic model of the segway. 

LQR gain is calculated by using MATLAB Function lqr(). 

Elegant Abstract Background

Hardware Implementation

Encoder Subsystem

Gyroscope Subsystem

Marble Surface

Demonstrations