NDLI: A PID backstepping controller for two-wheeled self-balancing robot

Content Provider	IEEE Xplore Digital Library
Author	Nguyen Gia Minh Thao Duong Hoai Nghia Nguyen Huu Phuc
Copyright Year	2010
Description	Author affiliation: Faculty of Electrical and Electronics Engineering, HoChiMinh city University of Technology (HCMUT), VietNam (Nguyen Gia Minh Thao; Duong Hoai Nghia; Nguyen Huu Phuc)
Abstract	This paper presents a method to design and control a two-wheeled self-balancing robot and it focus on hardware description, signal processing, discrete Kalman filter algorithm, system modelling and PID backstepping controller design. In the system, signals from angle sensors are filtered by a discrete Kalman filter before being fed to the PID backstepping controller. The objectives of the proposed controller are to stabilize the robot while try to keep the motion of robot to track a reference signal. The proposed PID backstepping controller has three control loops, in which the first loop uses a backstepping controller to maintain the robot at equilibrium, the second loop uses a PD controller to control the position of robot and the last uses a PI controller to control the motion direction. Simulations and experimental results show that the proposed control system has good performances in terms of quick response, good balance, stability .
Starting Page	76
Ending Page	81
File Size	4515846
Page Count	6
File Format	PDF
ISBN	9781424490387
DOI	10.1109/IFOST.2010.5668001
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-13
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radio frequency Backstepping control Two wheeled self-balancing robot Tuners Discrete Kalman filter Embedded system Hardware PID control Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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