Embedded Control System of Segway Robot using Model Based Design

In this paper, embedded control system of segway robot using model based design is presented. Design of control program in embedded system can be implemented simply and easily by model based design method using MATLAB/SIMULINK. Segway robot is consisted of a NXT Mindstorms controller, two DC servo motors, a ultrasonic sensor, a gyro sensor, and a light sensor. It is a unstable nonlinear system and has a control problem of body pitch angle. So controller of segway robot is designed using state feedback LQR control. It is confirmed through design and experiment of controller that the model based design method, that is not depend on target processor, has merits compared with the text based design in aspects such as a program development, an error detection/modify, and an insight of software structure.