A selection of PID type controller settings via LQR approach for two-wheeled balancing robot

TL;DR

This paper introduces a novel method for tuning PID controllers for a two-wheeled balancing robot by leveraging LQR solutions, enhancing control performance through a linear-quadratic optimization approach.

Contribution

It presents a new methodology to derive PID settings from LQR solutions, bridging optimal control theory with classical PID tuning for robotic balancing.

Findings

The LQR-based tuning improves robot stability.

Simulation results validate the effectiveness of the method.

The approach simplifies PID tuning for complex systems.

Abstract

The problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion has been investigated. Thus, the possibility of transforming optimal settings of the linear-quadratic regulator into the settings of the controller in the classical control system has been given. The presented methodology has been used during synthesis of control system for a two-wheeled balancing robot. Finally, the performance of the proposed control system has been validated by simulation in Matlab-Simulink environment with the use of a two-wheeled balancing robot model.