<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The two-wheeled robot is a nonlinear system of multi-variables, higherorder and strong coupling. This paper presented a PID Controller with Double Loops (PCDL) to control the tilt angle and velocity of a two-wheeled robot. The angle controller is the regular negative feedback, while the velocity control is the positive feedback. The Double Loops work cooperatively to endow the system with strong anti-interference ability. The stability of the whole system is analyzed and the criterion of the system stability is developed. The simulation and experiments showed that the two-wheeled robot can self-balance and move at an expected velocity and the system has strong anti-interference ability.</p></abstract>

The two-wheeled robot is a nonlinear system of multi-variables, higherorder and strong coupling. This paper presented a PID Controller with Double Loops (PCDL) to control the tilt angle and velocity of a two-wheeled robot. The angle controller is the regular negative feedback, while the velocity control is the positive feedback. The Double Loops work cooperatively to endow the system with strong anti-interference ability. The stability of the whole system is analyzed and the criterion of the system stability is developed. The simulation and experiments showed that the two-wheeled robot can self-balance and move at an expected velocity and the system has strong anti-interference ability.

A Controller Combining Positive Velocity Feedback with Negative Angle Feedback for a Two-Wheeled Robot

School of Information Engineering, Nanchang University, Nanchang City, 330031 China

Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB, Canada, T2N 1N4

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

The two-wheeled robot is a nonlinear system of multi-variables, higherorder and strong coupling. This paper presented a PID Controller with Double Loops (PCDL)...

A Controller Combining Positive Velocity Feedback with Negative Angle Feedback for a Two-Wheeled Robot

Publié en ligne: 03 juil. 2015

Pages: 159 - 170

DOI: https://doi.org/10.1515/cait-2015-0035

Mots clés
Two-wheeled robot, Double Loops, positive feedback, stability

© by Lingyan Hu

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

A Controller Combining Positive Velocity Feedback with Negative Angle Feedback for a Two-Wheeled Robot

Publié en ligne: 03 juil. 2015

Pages: 159 - 170

DOI: https://doi.org/10.1515/cait-2015-0035

Mots clésTwo-wheeled robot, Double Loops, positive feedback, stability

© by Lingyan Hu

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
Two-wheeled robot, Double Loops, positive feedback, stability