Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy | Zendy

Miguel Velazquez | Zendy; David Ricardo Cruz | Zendy; Salatiel García | Zendy; Manuel Bandala | Zendy

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Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

Author(s) -

Miguel Velazquez,

David Ricardo Cruz,

Salatiel García,

Manuel Bandala

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/63933

Subject(s) - cascade , control theory (sociology) , computer science , kinematics , controller (irrigation) , motion control , angular velocity , control system , robot , control (management) , simulation , engineering , physics , artificial intelligence , agronomy , electrical engineering , classical mechanics , quantum mechanics , chemical engineering , biology

This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface

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