Self-balancing Robot Modeling and Control Using Two Degree of Freedom PID Controller View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2019

AUTHORS

Ahmad Taher Azar , Hossam Hassan Ammar , Mohamed Hesham Barakat , Mahmood Abdallah Saleh , Mohamed Abdallah Abdelwahed

ABSTRACT

This paper represents the control of a two-wheel self-balancing robot based on the theory of controlling the inverted pendulum. This paper dividing the system modeling into two main parts. The first part is the dc motor and the second part are the whole mechanical design and its characteristics as a function in the motor speed and the torque depending on the system, creating two control closed loops inner and outer. The study uses conventional proportional–integral–derivative (PID) and two degree of freedom PID controllers to obtain a robust controller for the system. The inner loop controls the motor speed use the motor speed feedback signal from the encoder. The outer loop keeps the robot always in the accepted vertical angle boundary, using a six-degree of freedom gyroscope and accelerometer as a feedback signal. A state space model is obtained considering some assumptions and simplifications. The results are verified through simulations and experiments. Numerical simulation results indicate that the 2-DOF PID controller is superior to the traditional PID controller. More... »

PAGES

64-76

References to SciGraph publications

Book

TITLE

Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2018

ISBN

978-3-319-99009-5
978-3-319-99010-1

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-99010-1_6

DOI

http://dx.doi.org/10.1007/978-3-319-99010-1_6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1106415187


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