Multi-output Identification and LQG Control of a Two-Wheeled Robot

This paper presents the design and Hardware-in-the-Loop (HIL) simulation of the control system of a two-wheeled robot that implements Linear-Quadratic Gaussian (LQG) controller. In contrast to the already available results based on a single-input single-output identification, a single-input multi-output identification procedure is applied for finding the robot model. A model of 5th order is derived and validated which is used to obtain an uncertainty model with two output multiplicative uncertainties. This model is used to design LQG controller that ensure robust stability and robust performance of the closed-loop system. The controller is embedded in a microcontroller and results from the closed-loop system HIL simulation are presented.