self balancing robot
IEEE PROJECT
Autonomous dual wheel self balancing robot based on microcontroller
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An autonomous dual wheel self balancing robot is developed that is capable of balancing its position around predetermined position. Initially the system was nonlinear and unstable. It is observed that the system becomes stable after redesigning the physical structure of the
The design of fuzzy adaptive PID controller of two-wheeled self – balancing robot
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A two-wheeled self – balancing robot system is developed and the hardware system mainly consists of a controller of TMS320LF2407 DSP, a main sensor of Mio-x AHRS module, and other bargain components. The traditional linear controllers have a number of crucial flaws
The research on the application of fuzzy immune PD algorithm in the two-wheeled and self – balancing robot system
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The fuzzy immune PD controller is designed in view of the nonlinear and model uncertainty characteristics of the two-wheeled and self – balancing robot , and the simulation study is carried out. The simulation results show that the designed control system has the
Self – balancing two-wheeled robot
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This work describes the design and implementation of a self – balancing two-wheeled robot . The system is similar to the classical unstable, non-linear mechanical control problem of an inverted pendulum on a cart. This paper derives the linearized system dynamics equations
A Zilog ZNEO based Self – Balancing Robot with PID Control
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This project undertakes the construction and implementation of a two-wheeled robot that is capable of balancing itself. The structural, mechanical, and electronic components of the bot are assembled in a manner that produces an inherently unstable platform that is highly
Two Wheeled Robot Self Balancing Control Research
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According to movement balancing and position control problem of Self Balancing Two Wheeled Robot , a method based on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot , and simulated it in the MATLAB environment The simulation
Performance evaluation of MMA7260QT and ADXL345 on self balancing robot
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A self balancing robot (SBR) controller needs to detect platform inclination. For this purpose, an accelerometer is used. From various types of accelerometer, we can divide into digital and analog ones. The problem is how to select the right type for the SBR. This paper
Embedded robust control of self – balancing two-wheeled robot
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This paper presents the design and experimentation of a two degree-of-freedom robust controller for a self – balancing two-wheeled LEGO Mindstorms NXT robot . A 12-th order discrete-time controller is designed by using the techniques of μ-synthesis. The closed-loop
Development of Self Balancing Platform on Mobile Robot Using PID Controller
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This thesis presents a development self – balancing platform mobile robot using PID controller. The platform has been designed using mobile robot kits including IMU and two servos, and controlled by an open source microcontroller with PID. An Arduino
Two-Wheeled Self Balancing Robot
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This paper presents a method to design and control a two-wheeled self – balancing robot by focusing on hardware description, Complimentary filter algorithm, system modelling and Proportional-Integral-Derivative (PID) back stepping controller design. In the system, signals
PSO in two-wheeled self – balancing robot Control Research
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Article Preview Article Preview Article Preview Two self – balancing robot is a nonlinear, multivariable, intrinsically unstable motion control system, For traditional LQR controller feedback matrix optimization problem is difficult to determine, Particle swarm optimization
Singular Axis Self Balancing Robot
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In this paper, we presented the Balance model as a singular axis self balancing robot that is capable of adjusting itself with respect to changes in weight and position. We developed the Balance System from a single servo and a single accelerometer. The stability of the system
A Posture Control System Design for a Two-wheeled and Self – balancing Robot
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This paper establishes a self -developed mathematical model for the two-wheeled and self – balancing mobile robot pose. For the model nonlinear and unstable characteristics, we use a fuzzy method to achieve the optimal parameters of the PID controller in order to make the
LQ-Servo Design with Reduced Order Observer for Two-wheeled Self – balancing Robot based on HIL Simulation
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In this paper, an LQ-servo design method based on reduced order observer is proposed in order to control the two-wheeled self balancing robot . We employ reduced order observer, which estimates the states that cannot be accessible by the direct measurements from
Modified integral sliding mode controller design based neural network and optimization algorithms for two wheeled self balancing robot
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Two-wheeled Self – balancing (TWSB) mobile robot is considered to be highly nonlinear and unstable dynamic system. Unstable means that the robot is free to advance forward or backward without any forces applied. It must, therefore, be controlled. The purpose of this
Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self – Balancing Two-Wheeled Robot
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A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions
Controllable self – balancing robot
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The main goal of this project is to design and construct two-wheel controllable self – balancing mobile robot . Robot will be based on Discovery F3 board with IMU sensor to mesure position in space. Overall there should be possibility to control robot via wireless gamepad
SELF – BALANCING ROBOT
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INTRODUCTION As the title of this project suggests we are going to go through the process of building a self – balancing robot . The principle of something balancing itself is, in physics terms, an inverted pendulum. It is important to realize that because this is an inverted pendulum
The Control Policy For Self – balancing Robot
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Article Preview Article Preview Article Preview Self – balancing robot can stand on with two wheels. As the robot will vibrated during the angle adjusted dynamically, how to solve the angle sample and process noise is critical to system stability. This paper presents the
A ROBUST FEEDBACK CONTROLLED SELF BALANCING ROBOT
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The research on balancing robot has been increased over the last decade in a number of robotics research laboratories around the world. Due to the unstable dynamics of the system such robots have a lot of ability to balance on its two wheel and is also capable to twirl on