/Modeling-Simulation-Design-and-Fabrication-of-2-wheel-mobile-balanced-robot-2WMBR

Modeling a Mobile Robot using Advanced Dynamics Methods, Design & Simulation using Matlab and SolidWorks, Control using PID Controller, and Implemetation using Arduino UNO, Kalman Filter, and DC Motors..

Primary LanguageMATLAB

Modeling-Simulation-Design-and-Fabrication-of-2-Wheel-Mobile-Balanced-Robot-2WMBR

Awarded as the TOP BACHELOR THESIS OF IRANIAN AEROSPACE ASSOCIATION

Students: Iman Sharifi, Alireza Khajeh-zadeh

Modeling Dynamic:

Four methods used for dynamic modeling of 2WMBR:

  • 1-Integrated Multiplier Method
  • 2-Augmented Method
  • 3-Elimination Method
  • 4-Greenwood Method

Comparizon between modeling and reality:

Implemented Control Algorithms:

  • 1-PID Control
  • 2-State Feedback with Observer

Noise Reduction Using Kalman Filter:

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Design of the robot in SOLIDWORKS:

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Assembled robot:

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Performance:

Stability

Stability On Ramp: The proposed controller can stabilize the robot on a ramp.

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