This repository contains simulation for Self Balancing Robot. LQR Control for Balancing the robot in vertical position. Feedback Linearization control for Trajectory Tracking Steps for Run the Simulation
- firstly, Run lqr_control_3DOF.m file in MATLAB to calculate gains & initilize the parameters of system
- To simulate Feedback linearization control for trajectory tracking of Self balancing Control open FDL_Trajectary_Tracking_SBR.slx in Simulink
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To change the Trajectory types Click on block showing in above Image.
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Type Number between 1 to 4 such as
1 for Circular Trajecctory
2 for 8-Shaped Trajecotory
3 for Infinite Shaped Trajectory
4 for Heart Shaped Trajectory (Just for Fun/ this is not a Continious trajectory)
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Run the simulation by click on RUN Icon in Simulink
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To Visualizing the 3D Animation,Double click on VR Sink block and run the simulation in VRML