Design and Control of a Two-Wheel Self-Balancing Robot using the Arduino Microcontroller Board

被引：0
|
作者：
Juang, Hau-Shiue [1 ]
Lum, Kai-Yew [1 ]
机构：
[1] Natl Chi Nan Univ, Dept Elect Engn, Puli 54561, Taiwan
来源：
2013 10TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper reports the design, construction and control of a two-wheel self-balancing robot. The system architecture comprises a pair of DC motor and an Arduino microcontroller board; a single-axis gyroscope and a 2-axis accelerometer are employed for attitude determination. In addition, a complementary filter is implemented to compensate for gyro drifts. Electrical and kinematic parameters are determined experimentally; PID and LQR-based PI-PD control designs, respectively, are performed on the linearized equations of motion. Experimental results show that self-balancing can be achieved with PI-PD control in the vicinity of the upright position.
引用
收藏
页码：634 / 639
页数：6
相关论文
共 50 条
  • [41] TRAJECTORY TRACKING CONTROL OF A TWO WHEELED SELF-BALANCING ROBOT BY USING SLIDING MODE CONTROL
    Dogan, Mustafa
    Onen, Umit
    KONYA JOURNAL OF ENGINEERING SCIENCES, 2024, 12 (03):
  • [42] Self-balancing Robot Modeling and Control Using Two Degree of Freedom PID Controller
    Azar, Ahmad Taher
    Ammar, Hossam Hassan
    Barakat, Mohamed Hesham
    Saleh, Mahmood Abdallah
    Abdelwahed, Mohamed Abdallah
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT SYSTEMS AND INFORMATICS 2018, 2019, 845 : 64 - 76
  • [43] Control System Design for Two-wheel Self-balanced Robot Based on Fuzzy-PD Control
    Xin, Song
    Gong, Min
    Sun, Yang
    Zhang, Zhongqiu
    FIFTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2014, : 169 - 174
  • [44] The PWM servo and LQR control of a dual-wheel upright self-balancing robot
    Ruan, Xiaogang
    Zhao, Jianwei
    2008 INTERNATIONAL SYMPOSIUM ON INFORMATION PROCESSING AND 2008 INTERNATIONAL PACIFIC WORKSHOP ON WEB MINING AND WEB-BASED APPLICATION, 2008, : 586 - 590
  • [45] Remote Two-wheel Robot control using OPC-UA
    Lee, Seung-Jun
    Kim, Woojin
    Lee, Yang Koo
    Yoon, DaeSub
    Lee, Jun Wook
    11TH INTERNATIONAL CONFERENCE ON ICT CONVERGENCE: DATA, NETWORK, AND AI IN THE AGE OF UNTACT (ICTC 2020), 2020, : 1842 - 1844
  • [46] Two-Wheeled Self-Balancing Robot
    Paulescu, Flavius-Catalin
    Szeidert, Iosif
    Filip, Ioan
    Vasar, Cristian
    IEEE 15TH INTERNATIONAL SYMPOSIUM ON APPLIED COMPUTATIONAL INTELLIGENCE AND INFORMATICS (SACI 2021), 2021, : 33 - 38
  • [47] Modeling and Decoupling Control for Two-Wheeled Self-Balancing Robot
    Zheng, Zhang
    Teng, Meng
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 5263 - 5267
  • [48] Attitude Control and Stabilization of a Two-Wheeled Self-Balancing Robot
    Bhatti, Omer Saleem
    Mehmood-ul-Hasan, Khalid
    Imtiaz, Muhammad Anas
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2015, 17 (03): : 98 - 104
  • [49] LQR Control for a Self-balancing Unicycle robot
    Gong Daoxiong
    Pan Qi
    Zuo Guoyu
    Deng Wenbo
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 1424 - 1429
  • [50] H∞ Robust Control of Self-Balancing Two-Wheeled Robot
    Ruan, Xiaogang
    Chen, Jing
    2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 6524 - 6527
12345