DocumentCode
661194
Title
Design and implementation of a two wheel self balancing robot with a two level adaptive control
Author
Wasif, Ammar ; Raza, Danish ; Rasheed, Waqas ; Farooq, Zubair ; Ali, S.Q.
Author_Institution
Transm. Dept., KESC, Karachi, Pakistan
fYear
2013
fDate
10-12 Sept. 2013
Firstpage
187
Lastpage
193
Abstract
An attempt to tackle the inherent instability of the two wheel platform has been made. Control of this unbalanced system is achieved by implementing an adaptive rendition of the classic PD control. The implementation procedure and the relevant theory behind the autonomous balancing and movement of the robot is also demonstrated. The stability and responses of this two wheel self-balancing system is verified by practical results.
Keywords
PD control; adaptive control; mobile robots; stability; PD control; adaptive control; autonomous balancing; inherent instability; two wheel platform; two wheel self balancing robot; two wheel self balancing system; unbalanced system; Accelerometers; Adaptive control; DC motors; Gyroscopes; Mobile robots; PD control; PID Controller; Segway; Self-balancing; Two wheel; adaptive control; inverted pendulum;
fLanguage
English
Publisher
ieee
Conference_Titel
Digital Information Management (ICDIM), 2013 Eighth International Conference on
Conference_Location
Islamabad
Print_ISBN
978-1-4799-0613-0
Type
conf
DOI
10.1109/ICDIM.2013.6694021
Filename
6694021
Link To Document