Modelling and Control of DWR 1.0 – A Two Wheeled Mobile Robot
Keywords:
Inverted pendulum, modelling, PID control, simulation, two wheeled mobile robotAbstract
This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing robot is one of the applications of an inverted pendulum on a two wheel. A relatively recent offshoot of the classical inverted pendulum is the wheel inverted pendulum, popularized in contemporary culture by the Segway Personal Transporter. However, the mathematical model for a wheel inverted pendulum do not account for the full complexity of the construction of the platform. The mathematical model obtained in this work with the measured parameters is simulated using Matlab and PID control parameters are determined. Finally, PID control algorithm is implemented on the two-wheeled mobile robot to test the accuracy of the model.References
C. T. Ching, Y. J. Shang and M. H. Shih, Trajectory tracking of self-balancing two-wheeled robot using back stepping sliding mode control and fuzzy basis function networks, Proceeding of the 2010 IEEE/RSJ International Conference on Intelligent Robots and system, Taipei, Taiwan, 2010, pp. 3943-3948.
C. L. Shui, C. T. Ching and C. H. Hsu, Nonlinear adaptive sliding mode control design for two wheeled human transportation vehicle, Proceeding of the 2009 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, USA, 2009, pp. 1965-1970.
C. O. Rich, Balancing a two wheeled autonomous robot, Thesis, University of Western Australia, 2003
A. O. Abd-Al-Azeem, M. K. Mohammed, R. A. Moukarrab and M. S. Ibraheem, TWIP robot balancing a two wheeled robot, Master of Science Thesis, University of Minia, 2009.
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