An experimental study on the PID and Fuzzy-PID controllers on a designed two-wheeled self-balancing autonomous robot

Sadeghian, Rasoul; Masoule, Mehdi Tale

doi:10.1109/icciautom.2016.7483180

Cited by 26 publications

(13 citation statements)

References 7 publications

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“…misalignment. Rasoul and Mehdi 13 implemented three controllers on self-balancing robot viz. PD, PID and Fuzzy-PID.…”

Section: Introductionmentioning

confidence: 99%

Development of Two Wheeled Robot (TWR) by Single Stepper Driver Using PID Controller

Maheshbhai¹,

Kumar²,

Sinha³

2020

Preprint

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The mechanical stability is an important parameter for the development of specific robots. Nowadays, it has turned into an essential region of research in the current development, due to increased applications of robots in various fields such as biomedical, aerospace, marines etc. In this paper, Two wheeled Robot (TWR) is designed and fabricated following the concept of an inverted pendulum. It balances itself up in the vertical position. The Proportional Integral Derivative (PID) controller was utilized to locate its stable transformed position. The developed two wheeled robot (TWR) was controlled using angle of pendulum (). It consists of two stepper motors, one arduino Nano microcontroller, Inertial Mass Unit (IMU) sensor and stepper motor driver. An IMU sensor comprises of 3-axis accelerometer and 3-axis gyroscope which measure acceleration and angular velocity. The angle of robot () with respect to the vertical position is computed from the mesaured data. It helps the wheel to prevent from fall by providing the acceleration according to its inclination () from the vertical position. Further, complementary filter was used to compensate gyro drifts with the help of accelerometer readings. PID constants were tuned until optimum values are achieved. Performances were compared with ardunio UNO based Self-Balancing Robot [20] & found that the performance of TWR is almost similar to ardunio UNO based Self-Balancing Robot.

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“…misalignment. Rasoul and Mehdi 13 implemented three controllers on self-balancing robot viz. PD, PID and Fuzzy-PID.…”

Section: Introductionmentioning

confidence: 99%

Development of Two Wheeled Robot (TWR) by Single Stepper Driver Using PID Controller

Maheshbhai¹,

Kumar²,

Sinha³

2020

Preprint

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“…Na subcategoria robôs com rodas, eles podem ter de uma até várias rodas (Dobra 2015). O robô de duas rodas, que é usado neste trabalho, é caracterizado por ser desafiador para a engenharia de controle, pois deriva do problema de equilibrar o pêndulo invertido e vem sendo estudado há pelo menos duas décadas (Grasser et al 2002;Ha & Yuta 1994;Sadeghian & Masoule 2016;Shiroma et al 1996). Ele possui uma vasta aplicação no ensino e pesquisa, possibilitando o estudo de diversos tipos de controladores, pois se trata de um sistema não-linear e instável.…”

Section: Introductionunclassified

“…Em um robô de duas rodas, a navegação pode ser feita mediante a implementação de controladores de velocidade de deslocamento, de orientação e de equilíbrio, todos atuando concomitantemente no robô. Por ser um trabalho desafiador, muitos algoritmos de controle já foram estudados e aplicados em robôs de duas rodas e, dentre eles, o controlador PID (Proporcional-Integral-Derivativo) continua sendo uma alternativa amplamente utilizada (Sadeghian & Masoule 2016), (Prasetio 2016), (Kumar, Vijaydeep & Gupta 2017) e (Sarathy et al 2018). A estabilidade do robô de duas rodas se dá quando o mesmo fica paralelo ao eixo vertical.…”

Section: Introductionunclassified

Desenvolvimento e Implementação do Controle Automático de Velocidade Linear e Angular de um Robô Auto Equilibrado Usando Filtro de Kalman e Encoders de Baixa Resolução

Silva

Monteiro

Oliveira

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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In this paper the construction and structure for the implementation of linear and angular velocity controllers of a selfbalanced differential robot using the NI myRIO embedded system and the LabVIEW software are presented. Each of the two wheels of the robot has a PID speed controller, and a low-resolution encoder, so this makes the speed measurement have abrupt variations, consequently compromising the quality of the action of the controllers in the process. To solve such problem, we used the one-dimensional Kalman filter. In addition to the implementation of the linear and angular velocity controllers and the wheel speed controllers of the robot, the control system must act in self-balancing. At the end, practical results, conclusions and recommendations are presented.Resumo: Neste artigo são apresentadas a construção e uma estrutura para a implementação de controladores de velocidade linear e angular de um robô diferencial auto equilibrado utilizando o sistema embarcado NI myRIO e o software LabVIEW. Cada uma das duas rodas do robô possui um controlador de velocidade PID, e um encoder de baixa resolução, portanto, isto faz que a medição da velocidade tenha variações bruscas, consequentemente, comprometendo a qualidade da ação dos controladores no processo. Para resolver tal problema, utilizou-se o Filtro de Kalman de uma dimensão. Além da implementação dos controladores de velocidade linear, angular e das velocidades das rodas; o sistema de controle deve também atuar nas rodas para manter o equilíbrio. Ao final, são apresentados resultados práticos, conclusões e recomendações.

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“…An accelerometer, an Electro-mechanic device that measures the Inertial Acceleration Force, while Gyroscope measures the body Angular Velocity (Sadeghian & Masoule, 2016). Using an improved technology based on public transportation as a basic solution is one of the viewpoints.…”

Section: Introductionmentioning

confidence: 99%

“…Using an improved technology based on public transportation as a basic solution is one of the viewpoints. Among the various methods, Mptds can help, improving the transportaion without the car and for short trips (Gong, Wu, & Ma, 2015;Sadeghian & Masoule, 2016). Electronic Scooters and segways are two operator-friendly that simplify the journeys and provid suitable transportation within the cities.…”

Section: Introductionmentioning

confidence: 99%

Segway Robot Designing And Simulating, Using BELBIC

Moarefi¹,

Yarahmadi²,

Esfehani³

et al. 2016

IOSR

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An experimental study on the PID and Fuzzy-PID controllers on a designed two-wheeled self-balancing autonomous robot

Cited by 26 publications

References 7 publications

Development of Two Wheeled Robot (TWR) by Single Stepper Driver Using PID Controller

Development of Two Wheeled Robot (TWR) by Single Stepper Driver Using PID Controller

Desenvolvimento e Implementação do Controle Automático de Velocidade Linear e Angular de um Robô Auto Equilibrado Usando Filtro de Kalman e Encoders de Baixa Resolução

Segway Robot Designing And Simulating, Using BELBIC

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