Implementation of unicycle segway using unscented Kalman filter in LQR control

In this paper, we design a stable controller, using LQR method in order to achieve unicycle Robot's balance by using unscented Kalman filter. After linearizing the derived Dynamics, LQR controller is designed. By performing simulations in MATLAB (MATLAB, MathWorks, USA) to apply to the physical model, the precise attitude control of the unicycle segway was possible.