Optimal Control Approach for Robot System Using LQG Technique

A two-wheeled self-balancing robot system bases on the physical problem of an inverted pendulum. Stabilization this type mobile requires applying active control approach. This paper proposes efficient Linear Quadratic Gaussian (LQG) optimal for system. The LQG (a combination a Kalman Filter (KF) and Regulator (LQR)) controller is designed to stabilize while reducing effect process measurement noises its performance. parameters (elements state weighting matrices LQR KF) are optimally tuned using Particle Swarm Optimization (PSO) optimization method. stabilization scheme simulated utilizing MATLAB software validate proposed PSO-LQG effectiveness validated based criteria parameters, which rise time, settling maximum overshoot, steady-state error. results prove that can give very good movement performance in terms both transient responses.