Self-balance Control of an Essboard-like Robot with a Fly-wheel

In this paper, dynamic characteristic analysis and balance controller design are carried out based on a simplified essboard robot (essbot) model. A simplified non-linear dynamics model is established using the Lagrangian equations. The non-linear dynamics model is linearized using an approximate linearization method based on Taylor series expansion, then the state space equations are established. Baesd on that, the LQR (Linear Quadratic Regulator) controller for essboard self-balanced is designed, and the stability of the whole system is judged using the Lyapunov method. Finally, the correctness of the dynamics model and the effectiveness of the controller are verified by simulation.