LQR Control Design for a Segway – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

LQR Control Design for a Segway

In this example we show how the longitudinal motion of a Segway can be controlled using an LQR controller.

Attachments:  The plant.msys file is the linearized version of the plant model. This file was generated using the Linearization template attached to the model. Once the system has been linearized, the plant.msys file is used by the Linear System Worksheet template to create an LQR controller for the plant model.


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Model Images
  • model Model diagram of the Segway and controller
  • results Simulation results showing the tilt angle of the Segway
MapleSim Video
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