Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller

被引：5

作者：

Zimit, Aminu Yahaya ^{[1
,2
]}

Yap, Hwa Jen ^{[1
]}

Hamza, Mukhtar Fatihu ^{[1
,2
]}

Siradjuddin, Indrazno ^{[3
]}

Hendrik, Billy ^{[4
]}

Herawan, Tutut ^{[3
,5
,6
]}

机构：

[1] Univ Malaya, Dept Mech Engn, Kuala Lumpur, Malaysia

[2] Bayero Univ, Dept Mechatron Engn, Kano, Nigeria

[3] Politekn Negeri Malang, Malang, Indonesia

[4] Univ Putra Indonesia YPTK, Padang, Sumatera Barat, Indonesia

[5] Univ Negeri Yogyakarta, Yogyakarta, Indonesia

[6] Univ Teknol Yogyakarta, Yogyakarta, Indonesia

来源：

COMPUTATIONAL SCIENCE AND ITS APPLICATIONS (ICCSA 2018), PT II | 2018年 / 10961卷

关键词：

PID; Self-balanced robot; Mathematical model; Trajectory tracking control; MOBILE;

D O I：

10.1007/978-3-319-95165-2_48

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This research is aimed to design and implement Proportional Integral Derivative (PID) controller on Two-wheeled self-balance (TWSB) robot. The PID is used for the purpose of balancing the robot to stand still at upright position and to receive command via Bluetooth to follow the desired trajectory smoothly. The dynamic model of TWSB robot was developed using Lagrangian method. The PID gains were tuned until the optimum values are achieved. The Arduino based PID-controller was implemented on the TWSB robot in real world experiment. The experimental result shows the effectiveness of the proposed controller for stabilization and trajectory tracking control of TWSB robot.

引用

页码：683 / 698

页数：16

共 25 条

[1]

Anderson D. P., 2003, Nbot balancing robot

[2]

[Anonymous], ADV MAT RES

[3]

[Anonymous], 2014 IEEE 6 INT C AD

[4]

[Anonymous], J SEL AREAS ROBOT CO

[5]

[Anonymous], 2006, IEEE INT C CONTROL A

[6]

[Anonymous], 2013, Introduction to Mobile Robot Control, DOI DOI 10.1016/C2013-0-01365-5

[7]

[Anonymous], INT J ADV ENG TECHNO

[8]

[Anonymous], 2010 IEEE INT C FUZZ

[9]

[Anonymous], 2015, NEURAL COMPUT APPL

[10]

Bloch AM, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P500, DOI 10.1109/ROBOT.1999.770026

← 1 2 3 →