Implementación de un controlador para robot de tipo péndulo invertido.

Abstract

In indoor mobile robotics, wheeled robots stand ut due to their simpler mechanics and lower maintenance requirements compared to legged articulated robots. This work describes the phases for implementing control software for an inverted pendulum robot using the Linear Quadratic Regulator (LQR) algorithm. The software architecture can be decomposed into large abstraction blocks, combining embedded software libraries and software components developed specifically for the project. Most inverted pendulum projects use a PID control, primarily due to the simplicity of its implementation. This method is functional but lacks scalability, consumes time, and, although some implementations exhibit excellent disturbance rejection, there is no guarantee of stability if any robot parameter changes. The developed prototype could serve as an experimental foundation for future research in mobile robotics or automatic control.