A PID backstepping controller for two-wheeled self-balancing robot

Nguyen Gia Minh Thao, Duong Hoai Nghia, Nguyen Huu Phuc

Research output: Chapter in Book/Report/Conference proceedingConference contribution

41 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2010 International Forum on Strategic Technology, IFOST 2010
Pages76-81
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 International Forum on Strategic Technology, IFOST 2010 - Ulsan, Korea, Republic of
Duration: 2010 Oct 132010 Oct 15

Other

Other2010 International Forum on Strategic Technology, IFOST 2010
CountryKorea, Republic of
CityUlsan
Period10/10/1310/10/15

Keywords

  • Backstepping control
  • Discrete Kalman filter
  • Embedded system
  • PID control
  • Two wheeled self-balancing robot

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)

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