Open AccessControlling two -wheeled self -balancing robot moving on inclined plane
Author(s) -
To Duc Nguyen
Publication year - 2017
Publication title -
khoa học công nghệ
Language(s) - English
Resource type - Journals
ISSN - 1859-0128
DOI - 10.32508/stdj.v20ik3.1091
Subject(s) - pid controller , control theory (sociology) , climb , robot , inclined plane , controller (irrigation) , kalman filter , encoder , computer science , laptop , simulation , trajectory , matlab , engineering , control engineering , artificial intelligence , control (management) , temperature control , mechanical engineering , agronomy , physics , astronomy , biology , aerospace engineering , operating system
This research not only describes the design and implementation of two - wheeled self - balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional–Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation. A cascaded PID control algorithm was proposed to combine the balancing and movement. The movement of the robot is controlled by using a distance controller that use rotary encoder sensor to measure its traveled distance. Besides the robot is able to move forward, backward, turning and reach the desired angle position by calculating the body's tilt angle. The experiment shows that the robot is likely to climb up slope with upon 25 degrees. Last but not least, this research also shows how to control the robot by using smartphone and C# form on laptop.