| Autor: |
Hu, Lingyan, Ieee, Henry Leung, Xu, Shaoping, Zhang, Hua |
| Předmět: |
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| Zdroj: |
Cybernetics & Information Technologies; Jun2015, Vol. 15 Issue 2, p159-170, 12p |
| Abstrakt: |
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. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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