Design and implementation of a pid-based controller for balancing a two-wheeled inverted pendulum robot as part of a transformer robot

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Design and implementation of a pid-based controller for balancing a two-wheeled inverted pendulum robot as part of a transformer robot

Rusyadi, Rusman - Personal Name; Sinaga, Maralo - Personal Name; Chandra, Vivien - Personal Name;

This thesis focuses on developing a PID-based controller to be implemented onto a two-wheeled inverted pendulum robot, which is a part of a transformer robot, for balancing and controlling the movements of the robot. A number of balancing algorithms were tested for their suitability to fulfill the objective of this thesis: position, velocity, and cascaded PID control. Additional controllers were also incorporated into the system: backlash controller (deadband) and anti-integral windup scheme. There were also some additional features integrated into the robot's system such as load disturbance control, back-to-position algorithm, and steer mode for forward, backward and turning movements. The system received feedback signals from two sensors: an Inertial Measurement Unit (IMU) and an incremental rotary encoder. An Arduino Mega 2560 board which is based on the ATMega 2560 were used as the main microcontroller board.

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B01350 (wh) Available but not for loan - Missing

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Series Title: -
Call Number: 1350
Publisher: : Swiss German University., 2013
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
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Edition: -
Subject(s): MT
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