Controller design of a two-wheeled self balancing mobile robot base on a simulation view point

Kooh, Chu Aik (2017) Controller design of a two-wheeled self balancing mobile robot base on a simulation view point. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

A two-wheeled mobile robot is not able to transport itself from one place to another without the aid of a controller due to its unstable nature. The aim of this project is to design a controller that is able to prevent the robot from falling down to the ground and the robustness of the designed controller will be tested through co-simulation of Adams and Matlab. The effectiveness of the designed controller will be confirmed by analyzing the result obtain from the co-simulation. There are basically three type of two-wheeled mobile robot: fixed centroid, moving centroid and with handle bar. A two-wheeled mobile robot with moving centroid is chosen for this project due to its unstable nature. After making decision on the design, 3D modelling is start in SolidWorks. Then, the model is transferred to Adams environment for configuration and export the data to Matlab for controller design. In Matlab, a controller is designed based on PID algorithm. Manual tuning method is applied while tuning the controller to achieve the desired result. Afterward, both simulation software are connected using Adams control interface module and the co-simulation can be initiated. There are altogether 3 simulation is going to carry out in this project: self-balance while at rest, move forward at certain tilt angle and move across bump without losing balance. The obtained result from the co-simulation is analyzed to know the capability of the designed controller. The co-simulation results showed that the controller is able to maintain the stability of the mobile robot and simplify the controller design process. For future study, the PID controller that was used in this project could be replaced other type of controllers to achieve better performance and results.

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