Robust Navigational Control of a Two-Wheeled Self-Balancing Robot in a Sensed Environment

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成果类型：

期刊论文

作者：

Iwendi, Celestine;Alqarni, Mohammed A.;Anajemba, Joseph Henry*;Alfakeeh, Ahmed S.;Zhang, Zhiyong;...

通讯作者：

Anajemba, Joseph Henry

作者机构：

[Zhang, Zhiyong; Iwendi, Celestine] BCC Cent South Univ Forestry & Technol, Dept Elect, Changsha 410004, Hunan, Peoples R China.

[Alqarni, Mohammed A.] Univ Jeddah, Coll Comp Sci & Engn, Jeddah 21959, Saudi Arabia.

[Anajemba, Joseph Henry] Hohai Univ, Coll Internet Things, Dept Commun Engn, Changzhou Campus, Changzhou 213000, Peoples R China.

[Alfakeeh, Ahmed S.] King Abdulaziz Univ, Fac Comp & Informat Technol, Jeddah 21589, Saudi Arabia.

[Bashir, Ali Kashif] Manchester Metropolitan Univ, Dept Comp & Math, Manchester M13 9PL, Lancs, England.

通讯机构：

[Anajemba, Joseph Henry] H

Hohai Univ, Coll Internet Things, Dept Commun Engn, Changzhou Campus, Changzhou 213000, Peoples R China.

语种：

英文

关键词：

32-bit Microcontroller;IoT;PD-PI;robust control;sensed environment;TWSBR

期刊：

IEEE ACCESS

ISSN：

2169-3536

年：

2019

卷：

页码：

82337-82348

DOI：

10.1109/ACCESS.2019.2923916

机构署名：

本校为第一机构

摘要：

This research presents an improved mobile inverted pendulum robot called Two-wheeled Self-balancing robot (TWSBR) using a Proportional-Derivative Proportional-Integral (PD-PI) robust control design based on 32-bit microcontroller in a sensed environment (SE). The robot keeps itself balance with two wheels and a PD-PI controller based on the Kalman filter algorithm during the navigation process and is able to stabilize while avoiding acute and dynamic obstacles in the sensed environment. The Proportional (P) control is used to implement turn con...

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