Title :
Servo state feedback control of the self balancing robot using MATLAB
Author :
Kongratana, V. ; Gulphanich, S. ; Tipsuwanporn, V. ; Huantham, P.
Author_Institution :
Dept. of Instrum. & Control Eng., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok, Thailand
Abstract :
In this paper, the servo state feedback control of the self balancing robot is proposed. Balancing robot system to control is used ADXL3xx accelerometer as sensors to measure the angle and angle changes and then sends signals to the Servo motor for robot can balance the stability, respectively. Self Balancing robot control are application of MATLAB / Simulink program which served to simulation the process system and control self balancing robot in real-time by FiO board. More importantly, the robot system use Servo state feedback control that is implemented on FiO Board. Finally, the results from simulation with the experimental results from to comparison. The results shown that servo state feedback control system designed and implement to the FiO Board can stabilize the self balancing robot are satisfied.
Keywords :
accelerometers; angular measurement; control system synthesis; mobile robots; servomotors; stability; state feedback; ADXL3xx accelerometer; FiO board; Matlab program; Simulink program; angle measurement; process system simulation; self-balancing robot control; sensors; servo motor state feedback control system design; stability; MATLAB; Mathematical model; Mobile robots; Robot sensing systems; Servomotors; State feedback; FiO Board; MATLAB; Servo state feedback control; self balancing robot;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
