PID and LQR control for two-wheeled vehicles with hand sensors

Dian Rong Li, Yih-Guang Leu, Yan Hou Wen

研究成果: 書貢獻/報告類型會議貢獻

摘要

This paper studies the control of a two-wheeled vehicle which is similar to an inverted pendulum system and has hand sensors to make right and left turns. Because the two-wheeled vehicle is unstable and its load is uncertain, PID and LQR controllers are used to stabilize the uncertain and unstable plant. Moreover, the two controllers can make it move forwards and backwards, and turn left and right. The two controllers are implemented into a microcontroller, and the microcontroller outputs appropriate control signals to drive the two-wheeled vehicle according to the three-axis accelerometer and gyroscope sensors. Finally, we verify the controllers' efficiency and compare the difference between above two controllers.

原文英語
主出版物標題Materials Science and Processing, Environmental Engineering and Information Technologies
編輯Gurumurthy Hegde
發行者Trans Tech Publications Ltd
頁面619-622
頁數4
ISBN(電子)9783038352709
DOIs
出版狀態已發佈 - 2014 一月 1
事件2014 International Conference on Application of Materials Science and Environmental Materials, AMSEM 2014 - Yichang, 中国
持續時間: 2014 七月 42014 七月 6

出版系列

名字Applied Mechanics and Materials
665
ISSN(列印)1660-9336
ISSN(電子)1662-7482

其他

其他2014 International Conference on Application of Materials Science and Environmental Materials, AMSEM 2014
國家中国
城市Yichang
期間14/7/414/7/6

ASJC Scopus subject areas

  • Engineering(all)

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  • 引用此

    Li, D. R., Leu, Y-G., & Wen, Y. H. (2014). PID and LQR control for two-wheeled vehicles with hand sensors. 於 G. Hegde (編輯), Materials Science and Processing, Environmental Engineering and Information Technologies (頁 619-622). (Applied Mechanics and Materials; 卷 665). Trans Tech Publications Ltd. https://doi.org/10.4028/www.scientific.net/AMM.665.619