Motion control for a two-wheeled vehicle using a self-tuning PID controller

被引：98

作者：

Ren, Tsai-Jiun ^{[1
]}

Chen, Tien-Chi ^{[1
]}

Chen, Chun-Jung ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, Dept Engn Sci, Tainan 70101, Taiwan

来源：

CONTROL ENGINEERING PRACTICE | 2008年 / 16卷 / 03期

关键词：

two-wheeled vehicle; self-tuning PID; motion control; stability; neural;

D O I：

10.1016/j.conengprac.2007.05.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the motion control and stability analysis of a two-wheeled vehicle (TWV). The TWV is driven using two independent wheel motors, upon which a vehicle body is mounted. A mathematical model of the TWV is obtained using dynamic analysis. The TWV is inherently unstable and its motion is controlled through the actions of the wheel motors. Vehicle action depends on both the desired wheel response and the tilt angle. A self-tuning proportional-integral-derivative (PID) control strategy, based on a deduced model, is proposed for implementing a motion control system that stabilizes the TWV and follows the desired motion commands. The controller parameters are tuned automatically, on-line, to overcome the disturbances and parameter variations. Experimental results are presented to demonstrate the reliability and effectiveness of the proposed control scheme. (c) 2007 Elsevier Ltd. All rights reserved.

引用

页码：365 / 375

页数：11

共 50 条

[1] PID Tuning for the pitch angle of a Two-Wheeled Vehicle
Souza, M. R. S. B.
Murofushi, R. H.
Tavares, J. J. P. Z.
Ribeiro, J. F.
[J]. 2015 12TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 2015 3RD BRAZILIAN SYMPOSIUM ON ROBOTICS (LARS-SBR), 2015, : 371 - 375
[2] Research on PID Linear Motion Control Strategy of Self-balanced Two-wheeled Vehicle
Li, Ying
Wang, Dazheng
Zhang, Xiaohua
Bian, Pengbo
[J]. MANUFACTURING PROCESS AND EQUIPMENT, PTS 1-4, 2013, 694-697 : 1679 - +
[3] Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots
Kim, Seok-Kyoon
Ahn, Choon Ki
[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2019, 66 (06) : 1008 - 1012
[4] Two-wheeled Robot Control Based on Self-tuning Output Recurrent CMAC
Chiu, Chih-Hui
Tsai, Wen-Ru
Chou, Ming-Hung
Peng, Ya-Fu
[J]. IMECS 2009: INTERNATIONAL MULTI-CONFERENCE OF ENGINEERS AND COMPUTER SCIENTISTS, VOLS I AND II, 2009, : 17 - +
[5] A kind of self-tuning PID controller and its application on marine motion control
He Wenxue
Jia Limin
Li Diyang
Gao Junwei
[J]. ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 188 - +
[6] Speed control of Hydraulic elevator by using PID controller and self-tuning fuzzy PID controller
Xu, Xian
Wang, Qingling
[J]. 2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2017, : 812 - 817
[7] Modelling and Experimental Analysis Two-Wheeled Self Balance Robot Using PID Controller
Zimit, Aminu Yahaya
Yap, Hwa Jen
Hamza, Mukhtar Fatihu
Siradjuddin, Indrazno
Hendrik, Billy
Herawan, Tutut
[J]. COMPUTATIONAL SCIENCE AND ITS APPLICATIONS (ICCSA 2018), PT II, 2018, 10961 : 683 - 698
[8] Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller
Gautam, Deepak
Ha, Cheolkeun
[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
[9] Speed Control of BLDC Motor By Using PID Control and Self-tuning Fuzzy PID Controller
Shamseldin, Mohammed Abdelbar
El-Samahy, Adel A.
[J]. 2014 15TH INTERNATIONAL WORKSHOP ON RESEARCH AND EDUCATION IN MECHATRONICS (REM), 2014,
[10] Motion Control of a Two-Wheeled Mobile Vehicle with an Inverted Pendulum
Khac Duc Do
Gerald Seet
[J]. Journal of Intelligent & Robotic Systems, 2010, 60 : 577 - 605

← 1 2 3 4 5 →