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

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

研究成果: Conference contribution

45 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 International Forum on Strategic Technology, IFOST 2010
ページ76-81
ページ数6
DOI
出版ステータスPublished - 2010
外部発表はい
イベント2010 International Forum on Strategic Technology, IFOST 2010 - Ulsan, Korea, Republic of
継続期間: 2010 10 132010 10 15

Other

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

ASJC Scopus subject areas

  • 決定科学(その他)

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