Using the Numerical Optimization Method for Tuning the Regulator Coefficients of the Two-Wheeled Balancing Robot

Ivoilov, Andrei; Zhmud, Vadim; Trubin, Vitaly; Roth, Hubert

doi:10.1109/apeie.2018.8545899

Cited by 5 publications

(1 citation statement)

References 17 publications

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“…Using the Numerical Optimization Method to Set the Regulator Coefficient on a Two-Wheel Balancing Robot was investigated by Ivoilov. It is devoted to adjusting the regulating coefficient of the automatic stabilization system of a two-wheel balancing robot [24]. Obstacle Avoidance for Unmanned Vehicles based on 2D LIDAR was investigated by Ma.…”

Section: Introductionmentioning

confidence: 99%

Synchronizing of Stabilizing Platform Mounted on a Two-Wheeled Robot

Islam¹,

Hossain²,

Banik³

2021

jrc

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This paper represents the designing, building, and testing of a self-stabilizing platform mounted on a selfbalancing robot. For the self-stabilizing platform, a servo motor is used and for the self-balancing robot, two dc motors are used with encoder, inertial measurement unit, motor driver, and Arduino UNO microcontroller board. A PID controller is used to control the balancing of the system. The PID controller gains (Kp, Ki, and Kd) were evaluated experimentally. The value of the tilted angle from IMU was fed to the PID controller to control the actuated motors for balancing the system. For the self-stabilizing control part, whenever the robot tilted, it maintained the horizontal position by rotating that much in the opposite direction.

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Section: Introductionmentioning

confidence: 99%