In this project, we formulated state space model of a 2-DOF mobile inverted pendulum by linearizing the Lagrangian dynamics of the system. Then we designed an LQR controller for the Robot using these dynamics. We also added an in-plane angle stabilizer and a tracking controller to limit errors in rotation and translation.
This Wheeled Inverted Pendulum participated in several fun competitions like drag race and traversing a zig-zag track
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