Control System Design, Analysis &amp; Implementation of Two Wheeled Self Balancing Robot (TWSBR)

Imtiaz, Muhammad; Naveed, Mahum; Bibi, Nimra; Aziz, Sumair; Naqvi, Syed Zohaib Hassan

doi:10.1109/iemcon.2018.8614858

Cited by 9 publications

(4 citation statements)

References 15 publications

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“…PID control algorithms are the most prevailing and widely used control algorithms in the industry, agriculture, and new technology industries such as with drones and unmanned vehicles. In recent years, balancing robots have been developed rapidly [1,2], and wheeled balancing robots are more widely used in production because they are simpler and more stable to control than legged balancing robots, as well as being cheaper and easier to manufacture [3]. For a balancing robot, the most important thing is the stability and robustness of its attitude control, which depends on the control algorithm.…”

Section: Introductionmentioning

confidence: 99%

CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm

Lin

Zheng

Zhang

et al. 2022

Sensors

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The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algorithms are subject to the criticism of premature convergence and the possibility of falling into local optimum solutions. Therefore, the present paper proposes a CFHBA-PID algorithm for balancing robot Dual-loop PID attitude control based on Honey Badger Algorithm (HBA) and CF-ITAE. On the one hand, HBA maintains a sufficiently large population diversity throughout the search process and employs a dynamic search strategy for balanced exploration and exploitation, effectively avoiding the problems of classical intelligent optimization algorithms and serving as a global search. On the other hand, a novel complementary factor (CF) is proposed to complement integrated time absolute error (ITAE) with the overshoot amount, resulting in a new rectification indicator CF-ITAE, which balances the overshoot amount and the response time during parameter tuning. Using balancing robot as the experimental object, HBA-PID is compared with AOA-PID, WOA-PID, and PSO-PID, and the results demonstrate that HBA-PID outperforms the other three algorithms in terms of overshoot amount, stabilization time, ITAE, and convergence speed, proving that the algorithm combining HBA with PID is better than the existing mainstream algorithms. The comparative experiments using CF prove that CFHBA-PID is able to effectively control the overshoot amount in attitude control. In conclusion, the CFHBA-PID algorithm has great control and significant results when applied to the balancing robot.

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Section: Introductionmentioning

confidence: 99%

CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm

Lin

Zheng

Zhang

et al. 2022

Sensors

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“…In recent years, mobile robots have dramatically reduced energy consumption and increased the flexibility and velocity of motion under very complex and variable conditions (Korayem and Gariblu, 2004; Korayem et al, 2010). Wheeled mobile robots, unlike the legged robots, are relatively easy to control the kinematics with sophisticated equipment and have a simple design (Imtiaz et al, 2018; Larimi et al, 2015; Takei et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

“…A two-wheeled self-balancing robot has a growing interest based on one common engineering problem of an inverted pendulum (Irdayanti et al, 2020). Thanks to their high maneuverability, small size, and simple and compact structures (Imtiaz et al, 2018; Takei et al, 2009), two-wheeled self-balancing robots perform well in transportation applications (Grasser et al, 2002). A well-known two-wheel robot Segway has been the most famous commercial vehicle for personal transportation purposes (http://segway.com).…”

Section: Introductionmentioning

confidence: 99%

Proportional control moment gyroscope for two-wheeled self-balancing robot

Ünker

2021

Journal of Vibration and Control

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A two-wheeled self-balancing robot is considered for investigating the responses of a control moment gyroscope powered by a proportional controller to prevent the robot rollover against the constant inertia forces because of accelerations of the wheels of the robot. The amplitudes of the frequency equations related to the required angular momentum of flywheels with an optimum controller gain were also found. A simulation model of the robot using computer-aided engineering software (RecurDyn) is built to verify the equations of a Lagrangian model. The results of both obtained from the Lagrangian and that from RecurDyn simulations are analyzed comparatively, in which the proportional control loop reduces the required flywheel speeds Ω of gyros and keeps the robot in a very small amplitude of a stable sinusoidal motion in the upright position.

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“…Some of the advantages of this robotic platform are: small size, simple and compact structure, action flexibility, good maneuverability and low cost [7,10]. Additionally, it's an ecological alternative of mobility, since it works with electric energy that reduces the pollution produced by automobiles in the case of urban transport.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Two Wheeled Self-Balancing Robot: a didactic platform for control engineering education.

Jiménez¹,

Jiménez²,

Ruge³

2020

Proceedings of the 18th LACCEI International Multi-Conference for Engineering, Education, and Technology: Engineering, Integrat

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This paper describes the modeling, instrumentation and control of a Two Wheeled Automatic Balancing Robot (TWABR). This mechatronic system has two independently driven wheels to balance in the gravity center above the axis of the wheels´ rotation. Its dynamic behavior has also served to illustrate fundamental concepts of stability, nonlinear dynamics, and modern control theory. The TWABR was designed using the ESP32 microcontroller as a digital control unit and the MPU6050 Inertial Measurement Unit as the main sensor. The dynamic model of the TWABR was analyzed through its representation in nonlinear differential equations and its linearized representation in the state space. With the linearized mathematical model around the equilibrium point, a classic PID controller and an optimal LQR controller were designed and simulated. The control objective was to balance the TWABR in the vertical equilibrium position, even when it is subjected to disturbances. The two control algorithms were simulated in the Matlab / Simulink software platforms and implemented digitally on the physical TWABR system. As a result, the experimental comparison of the performance of the implemented controllers was performed, where its stabilization, control robustness and adequate dynamic response at the equilibrium point of the TWABR were evaluated.

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Control System Design, Analysis & Implementation of Two Wheeled Self Balancing Robot (TWSBR)

Cited by 9 publications

References 15 publications

CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm

CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm

Proportional control moment gyroscope for two-wheeled self-balancing robot

Modeling and Control of a Two Wheeled Self-Balancing Robot: a didactic platform for control engineering education.

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