Spherical Wheeled Motorcycle Balancing Control

I developed various control algorithms simulations for maintaining an upright position for a theoretical motorcycle with spherical wheels using MATLAB/SIMULINK. Control system methodologies include:

• pole placement

• Linear Quadratic Regulator (LQR)

• Linear Quadratic Gaussian (LQG) control

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 The results are detailed in an IEEE style technical paper. You can read the paper here.

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Feel free to browse the images below to get a feel for the project.

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