A controller combining positive velocity feedback with negative angle feedback for a two-wheeled robot

作者：Hu Lingyan; Ieee Henry Leung; Xu Shaoping; Zhang Hua

来源：Cybernetics and Information Technologies, 2015, 15(2): 159-170.

DOI：10.1515/cait-2015-0035

• Anti-interference
• Double-loop
• Higher-order
• Multi variables
• PID controllers
• Strong coupling
• Two wheeled robots
• Velocity feedback

<jats:title>Abstract</jats:title>
<jats: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.</jats:p>

• 出版日期2015--
• 单位The University of Calgary; University of calgary