Design and implementation of a pid-based controller for balancing a two-wheeled inverted pendulum robot as part of a transformer robot
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.
|B01350||(wh)||Available but not for loan - Missing|
No other version available