Servo state feedback control of the self balancing robot using MATLAB

Author

Kongratana, V. ; Gulphanich, S. ; Tipsuwanporn, V. ; Huantham, P.

Author_Institution

Dept. of Instrum. & Control Eng., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok, Thailand

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

414

Lastpage

417

Abstract

In this paper, the servo state feedback control of the self balancing robot is proposed. Balancing robot system to control is used ADXL3xx accelerometer as sensors to measure the angle and angle changes and then sends signals to the Servo motor for robot can balance the stability, respectively. Self Balancing robot control are application of MATLAB / Simulink program which served to simulation the process system and control self balancing robot in real-time by FiO board. More importantly, the robot system use Servo state feedback control that is implemented on FiO Board. Finally, the results from simulation with the experimental results from to comparison. The results shown that servo state feedback control system designed and implement to the FiO Board can stabilize the self balancing robot are satisfied.

Keywords

accelerometers; angular measurement; control system synthesis; mobile robots; servomotors; stability; state feedback; ADXL3xx accelerometer; FiO board; Matlab program; Simulink program; angle measurement; process system simulation; self-balancing robot control; sensors; servo motor state feedback control system design; stability; MATLAB; Mathematical model; Mobile robots; Robot sensing systems; Servomotors; State feedback; FiO Board; MATLAB; Servo state feedback control; self balancing robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393475