DocumentCode :
1646518
Title :
A PID backstepping controller for two-wheeled self-balancing robot
Author :
Thao, Nguyen Gia Minh ; Nghia, Duong Hoai ; Phuc, Nguyen Huu
Author_Institution :
Fac. of Electr. & Electron. Eng., HoChiMinh city Univ. of Technol. (HCMUT), Ho Chi Minh City, Vietnam
fYear :
2010
Firstpage :
76
Lastpage :
81
Abstract :
This paper presents a method to design and control a two-wheeled self-balancing robot and it focus on hardware description, signal processing, discrete Kalman filter algorithm, system modelling and PID backstepping controller design. In the system, signals from angle sensors are filtered by a discrete Kalman filter before being fed to the PID backstepping controller. The objectives of the proposed controller are to stabilize the robot while try to keep the motion of robot to track a reference signal. The proposed PID backstepping controller has three control loops, in which the first loop uses a backstepping controller to maintain the robot at equilibrium, the second loop uses a PD controller to control the position of robot and the last uses a PI controller to control the motion direction. Simulations and experimental results show that the proposed control system has good performances in terms of quick response, good balance, stability .
Keywords :
Kalman filters; PD control; PI control; control system synthesis; mobile robots; motion control; multivariable systems; nonlinear control systems; position control; stability; three-term control; uncertain systems; PD controller; PI controller; PID backstepping controller design; discrete Kalman filter algorithm; hardware description; multivariable system; position control; signal processing; system modelling; two-wheeled self-balancing robot; uncertain nonlinear system; Hardware; Radio frequency; Robots; Tuners; Backstepping control; Discrete Kalman filter; Embedded system; PID control; Two wheeled self-balancing robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Strategic Technology (IFOST), 2010 International Forum on
Conference_Location :
Ulsan
Print_ISBN :
978-1-4244-9038-7
Electronic_ISBN :
978-1-4244-9036-3
Type :
conf
DOI :
10.1109/IFOST.2010.5668001
Filename :
5668001
Link To Document :
بازگشت