The Real Time Remote Motion Control of Two Wheeled Mobile Balance Robot by Using Video Streaming

Abstract

Abstract. This study presents the motion control of a real time two wheeled balance robot capable of moving back and forward, turning right and left and video streaming via IP (Internet Protocol) camera on it. A C++ based visual user interface is created on PC (Personal Computer) in order to control of the designed Two Wheeled Mobile Balance Robot (TWMBR). By means of the interface, all controller parameters of the robot can be changed via wireless communication module on it. Moreover, the robot's tilt angle with respect to time, linear displacement and controller output can be observed simultaneously. Within the robot control interface, the videos from IP camera is transferred into the operator screen via TCP/IP (Transmission Control Protocol/Internet Protocol) communication protocol. So, the robot can be controlled via arrow keys and visual interface on PC remotely by an operator. Acceleration and gyro sensors are fused by means of a real-time Kalman Filter so that robot can keep its balance in both moving and stable state in the designed system. Thus, an accurate tilt angle control is realized. Classic PID (Proportional-IntegralDerivative) algorithm is used as robot controller. In conclusion, via IP camera on the robot, the real-time motion control is performed and data diagrams about motion control are obtained.

H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System

“…Euler Lagrange method is used to obtain the mathematical model of the mobile inverted pendulum system. [13].…”

“…The H control objective is to find a controller that minimizes a quadratic performance index (the H norm) of the system and offers a way of combining the design criteria of quadratic performance and disturbance rejection [13]. For the control system in equations (29),(30) and (31), it is required that the system matrix is of full rank, the pairs , and , are required to be stabilizable, , is required to be detectable and it is required that all the system state measurements are possible.…”