This paper presents some of the simulation results to show that the modeled two-wheels balancing robot can be balanced using the state feedback controller coupled with a reduced-order estimator/observer. The simulated model parameters are forced to adhere to the actual parameters used to design the actual two-wheel balancing robot (already constructed). The reduced-order estimator is an essential component in the overall compensator design as there would be no encoder to read the lateral displacement. The real hardware system equipped with an inclinometer to read the tilting angle, gyroscope to read the tilt rate but without a pair of encoders to read the lateral displacement(missing state variable) travelled by the robot. The simulated result is validated through implementation of the compensator algorithm in the real hardware system (whereby the encoders are omitted to introduce the missing state variable with which the reduced-estimator is placed into use). Implementation issues of incorporating the algorithm are discussed briefly in the context of usage of suitable embedded system, the choice of sampling time, the choice of fixed point calculation versus the floating point calculations and nonlinearities. The real system consists of PIC16F877A as the robot’s 8-bit microcontroller, ADXRS300s as its single-axis gyroscope and Parallax’s Memsic 2125 dual axis accelerometer, signal conditioned to act as an inclinometer.
|Translated title of the contribution||Simulation and Development of Two-Wheels Balancing Robot using State Feedback Controller and Reduced-Order Estimator|
|Title of host publication||International Symposium on Robotics and Intelligent Sensors (IRIS2010), Nagoya|
|Pages||203 - 208|
|Number of pages||6|
|Publication status||Published - 2010|