Digital Stabilizing and Control for Two-Wheeled Robot
In this chapter a design control is proposed for a two-wheeled robot system based on a combined between the matrix fraction description (MFD) theory and digital PID controller, the model of the system is presented in nonlinear differential equations and by using the Taylor series expansion method, the dynamics model is linearized to be linear multivariable with two inputs (voltages) and two outputs (the rotational speed and tilt angle) model. after the check of the block controllability applied on the model, the transformation of the model into block controllable form have been done. In order to stabilized the behavior dynamics of robot model, a set of block poles are chosen diagonally were consists from stable and fast eigenvalues, are assigned by matrix gain K. To make the outputs of the robot system track its set references and to ensure a good controlling, two PID controllers are proposed, one for the rotational speed output and the second for the tilt angle, the parameters of the PID controllers (Kp, Ki and Kd), are tuning and selected based on Ziegler-Nichols method, through the simulations results performed illustrated the effectiveness of the proposed design controller and it is more suitable and robustness against the disturbances which were injected and shown that the robot can be confirmed as mobile platform for transporting human and goods.
KeywordsTwo-wheeled robot Multivariable system Matrix fraction description (MFD) Block poles PID controller Ziegler-Nichols
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