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Real Time Balancing Control of 2 Wheel Robot Using a Predictive Controller
Journal of The Korea Society of Computer and Information
Abbr :
JKSCI
2014, 19(3), pp.11-16
Publisher : The Korean Society Of Computer And Information
Research Area : Computer Science
2014, 19(3), pp.11-16
Publisher : The Korean Society Of Computer And Information
Research Area : Computer Science
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In this paper, the two-wheels robot using a predictive controller to maintain the balance of theposture control in real time have been examined. A reaction wheel pendulum control method isadopted to maintain the balance while the bicycle robot is driving. The objective of this researchwas to design and implement a self-balancing algorithm using the dsPIC30F4013 embeddedprocessor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers(x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcomethe predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines thesimulation was performed. Also, the robust characteristic for realizing the goal of designing a loopfilter too robust controller is designed so that satisfactory stability of the control system to improvestability of the system to minimize degradation of performance was confirmed.
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