Đồ án tốt nghiệp - Design of LQR Controller for Self-Balancing Unicycle Robot

MINISTRY OF EDUCATION AND TRAINING
HCM CITY UNIVERSITY OF TECHNICAL EDUCATION
FACULTY OF ELECTRICAL AND ELECTRONICS
DEPARTMENT OF AUTOMATIC AND CONTROL
 

GRADUATION THESIS
DESIGN OF LQR CONTROLLER FOR SELFBALANCING UNICYCLE ROBOT
CONTROL AND AUTOMATION ENGINEERING
TECHNOLOGY

Instructor: Assoc. Prof. NGUYEN MINH TAM
Student: NGUYEN THI AI VAN

20151108

VU DINH HAU

20151362

Ho Chi Minh City ,

January 2025

MINISTRY OF EDUCATION AND TRAINING
UNIVERSITY OF TECHNICAL EDUCATION
HO CHI MINH CITY

SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom – Happiness
Ho Chi Minh City,

January 2025

COMMITMENT AND CONFIRMATION OF
PLAGIARISM TEST RESULTS
I. General information
1. Academic Product Name: Design of LQR controller for self-balancing unicycle
robot.
2. Type of Academic Product: Graduation Thesis
3. Academic Product Code (if any): .........................................................................
4. Author information:
No.
Full name
Student ID
1
Nguyen Thi Ai Van
20151108
2
Vu Dinh Hau
20151362
5. Supervisor Information
Full name: Assoc. Prof. Nguyen Minh Tam
Faculty: Electrical and Electronics Engineering

Role
Co-author
Co-author
MSCB:

II. Plagiarism Check Result
Product
submission date

Plagiarism check
date

% Duplicate
content

Highest %
duplicates from
1 source

III. Commitment
The authors of the academic product and the supervising lecturer commit that:
1. The content of the above-mentioned academic product does not violate academic
ethics or scientific integrity.
2. The reported % of duplication in section II is entirely accurate and truthful.
3. By signing this confirmation form, the authors and the supervising lecturer
commit to taking full responsibility for the aforementioned academic product.

Confirmation of the Representative
of the Author Group
(Signature and full name)

[Type here]

Confirmation of the Supervising
Lecturer
(Signature and full name)

MINISTRY OF EDUCATION AND TRAINING
Ho Chi Minh City University of Technical Education
Ho Chi Minh City

SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom - Happiness
Ho Chi Minh City, ….. January 2025

GRADUATION THESIS ASSIGNMENT
Student 1s name: Nguyen Thi Ai Van
Student ID: 20151108
Student 2s name: Vu Dinh Hau
Student ID: 20151362
Major: Control Engineering and Automation Technology
Training system: Full-time
Course: 2020
Class: 20151CL2
1. Tittle of the Project:
LQR controller design for self-balancing unicycle robot
2. Main
...

...
or balancing a unicycle robot,” in Proc.
IEEE/RSJ Int. Conf. Intell. Robots Syst., pp. 2529–2530, 2010, doi:
10.1109/IROS.2010.5649120.
Jaeoh Lee et al., “Decoupled Dynamic Control for Pitch and Roll Axes of the
Unicycle Robot,” IEEE Transactions on Industrial Electronics, vol. 60, no. 9, 2013,
doi: 10.1109/TIE.2012.2208431.
S. I. Han and J. M. Lee, “Balancing and Velocity Control of a Unicycle Robot
Based on the Dynamic Model,” IEEE Transactions on Industrial Electronics 62,
pp. 405-413, 2015, doi: 10.1109/TIE.2014.2327562.
J. Shen and D. Hong, “OmBURo: A Novel Unicycle Robot with Active
Omnidirectional Wheel,” IEEE International Conference on Robotics and
Automation
(ICRA),
pp.
8237-8243,
2020,
doi:
10.1109/ICRA40945.2020.9196927.
NXTway-GS
(self-balancing
two-wheeled
robot)
controllerdesign,
LEGOMindstorm,
Enfield,
CT,
Tech.Rep
[Online].
Available:
htp://www.mathworks.com/matlabcentral/fileexchange/19147.

[8]

R. C. Dorf and R. H. Bishop, Modern Control System, 10th Edition: Optimal
Control System. Upper Saddle River, NJ: Pearson, 2005.
[9] Y. Tanaka and T. Murakami, “A Study on Straight-Line Tracking and Posture
Control in Electric Bicycle,” IEEE Trans. Ind. Electron., vol. 56, no. 1, pp. 159–
168, 2009, doi: 10.1109/TIE.2008.927406.
[10] Vu D.H. et al., “A Survey of Linear Control for Unicycle Robot,” Robotica &amp
Management, Vol. 29, No. 1, pp. 45-54, 2024, doi: 10.24193/rm.2024.1.8
[11] Nguyen T.A.V, et al, A Method of LQR Using Velocity Control for Unicycle
Robot, Robotica &amp Management, Vol. 29, No. 2 (accept).
[12] Introduction to mobile robot Book https://www.circuitbasics.com/basics-uartcommunication/
[13] https://www.circuitbasics.com/basics-uart-communication/
[14] https://www.geeksforgeeks.org/i2c-communication-protocol/
[15] https://www.dynapar.com/technology/encoder_basics/magnetic_encoder/
[16] https://docs.simplefoc.com/foc_implementation

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REFERENCES

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