Performance comparison between LQR and PID controllers for two-wheeled self-balancing vehicle

Abstract

The two-wheeled balancing vehicle is an energy-efficient and eco-friendly transportation tool used for short distances. Both motors of the vehicle are required both motors to be regulated to maintain stability, and modern control methods have been applied to the system. In this paper, the effectiveness of traditional PID control and modern LQR control in the context of a two-wheeled balancing vehicle is evaluated. The motion principle of the vehicle is analyzed, and a corresponding dynamic model is established. PID and LQR control schemes are designed according to the model and the performance of the angle and speed of the vehicle is compared in MATLAB simulation. The two kinds of control performance are evaluated, offering theoretical feasibility verification for the application of two-wheeled balancing vehicles. It has been found that the LQR controller has better performance than the PID controller. LQR has a shorter response time and smaller steady-state error in controlling speed, and there is still room for improvement for both controllers.