Design and PID control of two wheeled autonomous balance robot
Authors:
- 1 November 2013
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 260-264
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
This publication has 6 references indexed in Scilit:
- Motion planning of a balancing robot with threefold sub-tasks: An endogenous configuration space approach2011
- Comparative assessment for two wheels inverted pendulum mobile robot using robust control2010
- A PID backstepping controller for two-wheeled self-balancing robot2010
- The Kinematics Model of a Two-Wheeled Self-Balancing Autonomous Mobile Robot and Its Simulation2010
- A New Family of Two-Wheeled Mobile Robots: Modeling and ControllabilityIEEE Transactions on Robotics, 2007
- Design And Development of Two Wheeled Autonomous Balancing Robot2006