Design and implementation of a two wheel self balancing robot with a two level adaptive control

Design and implementation of a two wheel self balancing robot with a two level adaptive control

An attempt to tackle the inherent instability of the two wheel platform has been made. Control of this unbalanced system is achieved by implementing an adaptive rendition of the classic PD control. The implementation procedure and the relevant theory behind the autonomous balancing and movement of t...

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Bibliographische Detailangaben
Hauptverfasser: Wasif, Ammar, Raza, Danish, Rasheed, Waqas, Farooq, Zubair, Ali, Syed Qaseem
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Accelerometers
Adaptive control
DC motors
Gyroscopes
inverted pendulum
Mobile robots
PD control
PID Controller
Segway
Self-balancing
Two wheel
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Beschreibung
Zusammenfassung:An attempt to tackle the inherent instability of the two wheel platform has been made. Control of this unbalanced system is achieved by implementing an adaptive rendition of the classic PD control. The implementation procedure and the relevant theory behind the autonomous balancing and movement of the robot is also demonstrated. The stability and responses of this two wheel self-balancing system is verified by practical results.
DOI:10.1109/ICDIM.2013.6694021