Title :
Design and PID control of two wheeled autonomous balance robot
Author :
Unluturk, Ali ; Aydogdu, Omer ; Guner, Ufuk
Author_Institution :
Dept. of Electr. & Electron. Eng., Selcuk Univ., Konya, Turkey
Abstract :
In this study, a two-wheeled autonomous balance robot has been designed and implemented practically. A visual computer interface based on Qt-Creator has been created. Thanks to the computer interface, different control algorithms can be performed on the robot easily, control parameters can be set up online, filter algorithms in various structures can be tried and the reaction of these changeable values to the system can be observed. The effects of some controllers such as Proportional (P), Proportional-Integral (PI), Proportional-Integral-Derivative (PID) on developed robot have been viewed successfully. Kalman Filters have been used for a stable control of the system and it has seen that the system can balance itself for a long time with optimum PID control parameters obtained.
Keywords :
Kalman filters; control engineering computing; control system synthesis; mobile robots; stability; three-term control; Kalman filters; PID control; Qt-Creator; control algorithms; control parameters; filter algorithms; proportional-integral-derivative control; robot design; stable control; two wheeled autonomous balance robot; visual computer interface; Algorithm design and analysis; Kalman filters; Mathematical model; Mobile robots; PD control; Robot sensing systems; Feedback Control; Kalman Filter; PID Controller; Qt Creator User Interface; Two-wheels Balancing Robot;
Conference_Titel :
Electronics, Computer and Computation (ICECCO), 2013 International Conference on
Conference_Location :
Ankara
DOI :
10.1109/ICECCO.2013.6718278
