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Controllers for balancing two wheeled inverted pendulum robot with PI feedback control |
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| รหัสดีโอไอ | |
| Creator | 1. Kittisak Sanprasit 2. Pramin Artrit |
| Title | Controllers for balancing two wheeled inverted pendulum robot with PI feedback control |
| Publisher | Faculty of Engineering, Khon Kaen University |
| Publication Year | 2559 |
| Journal Title | KKU Engineering Journal |
| Journal Vol. | 43 |
| Journal No. | S3 |
| Page no. | 436-438 |
| Keyword | Two-wheeled inverted pendulum, PI controller, Lagrange equation, Manual tuning |
| ISSN | 0125-8273 |
| Abstract | Two-wheeled inverted pendulum (TWIP) robot has been widely investigated because the system is nonlinear and unstable. The purpose of this study is to control the balance of TWIP. The PI control is employed because the limitation of hardware. To obtain the PI gain, actual TWIP has been implemented, where Kp = 50 and Ki = 4. The results show that the balance of TWIP can achieved with an error of 0.32?. |
