This projects purpose was to design and build a two wheeled upright robot.A two-wheeled differential drive mobile robot based on the inverted pendulum model is built as a platform to investigate the use of a Kalman filter to estimate the tilt angle. As the robot is mechanically unstable, it becomes necessary to explore the possibilities of implementing a control system to keep the system in equilibrium.
This project examines the suitability and evaluates the performance of a Linear Quadratic Regulator (LQR) and a Pole-placement controller in balancing the system. The LQR controller uses several weighting matrix to obtain the appropriate control force to be applied to the system while the Pole placement requires the poles of the system to be placed to guarantee stability. As the robot will be moving about on a surface, a PID controller is implemented to control the trajectory of the robot.
- Accelerometer:
- Main Controller:Arduino nano
- Motor Driver:
- DC Motors:
- Wheels:
- Rotary Encodrs:
- Position contol
- Speed control
- Image recognition
- ID : First of all, I collect some system data including "Angle of car inclination" and "Wheel angle". Base on LST(method of least-squares) method to derive the formula of dynamics equation, then compete the system's transfer function by matlab.
- Simulink : Cascade form and Parralled form to simulate which condition of PID would keep satble status.
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You will see in my youtube channel later.