One-wheeled balance bike design based on LQR control algorithm

Abstract As an important research object in the field of balance control, the one-wheeled balance scooter is highly nonlinear and unstable, and this study proposes a scheme based on the Lagrange model with the LQR control algorithm. The decoupling of roll-yaw axis dynamics is achieved by momentum wheel structure equivalence, and the state weight matrix is optimized so that the system can be quickly corrected under a 10° initial offset. The physical verification is based on the chip platforms of Infineon and ST, and the response speed and recovery ability of the system under external perturbation are tested.