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
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;
Conference_Titel :
Digital Information Management (ICDIM), 2013 Eighth International Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4799-0613-0
DOI :
10.1109/ICDIM.2013.6694021
