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Abstract

This research not only describes the design and implementation of two - wheeled self - balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional–Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation. A cascaded PID control algorithm was proposed to combine the balancing and movement. The movement of the robot is controlled by using a distance controller that use rotary encoder sensor to measure its traveled distance. Besides the robot is able to move forward, backward, turning and reach the desired angle position by calculating the body's tilt angle. The experiment shows that the robot is likely to climb up slope with upon 25 degrees. Last but not least, this research also shows how to control the robot by using smartphone and C# form on laptop.



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Article Details

Issue: Vol 20 No K3 (2017)
Page No.: 45-52
Published: Jun 30, 2017
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v20iK3.1091

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Nguyen, T. (2017). Controlling two -wheeled self -balancing robot moving on inclined plane. Science and Technology Development Journal, 20(K3), 45-52. https://doi.org/https://doi.org/10.32508/stdj.v20iK3.1091

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