Wheelee

Arduino inverted pendulum robot that use LQR control. Author: Alexander Semion

Mathematical model

The model development is described in article(Russian). The model was created in Matlab Simulink it is saved in balancer.slx.

Hardware

Robot uses

• L3G gyroscope
• LSM303 accelerometer and magnetometer
• DualVNH5019 Motor Shield
• Motors with encoders
• HC-05 bluetooth

Arduino sketch

The arduino sketch is located in sketch folder.

Documentation

• mathematical model development(Russian)
• building of robot(Russian)