Control of Wheel-legged Balancing Robot

This work studies the overall control problem of a multiterrain adaptive wheel-legged inverted pendulum robot. The dynamic model of the robot is also established. The linear quadratic regulator (LQR) algorithm analyzes the decoupled balance and longitudinal motion subsystems, and the controller is designed. Based on virtual model control, the torque in the inverted pendulum robot is converted into the joint torque in the wheel-leg structure. The controller's performance is simulated by building a simulation platform (Simulink Mulitibody). The corresponding controller is designed to control the robot's height and roll attitude. The performance of the whole controller is verified in the robot, which has certain theoretical and practical values.