Double Closed-Loop Feedback Controller Design for Micro Indoor Smart Autonomous Robot

Guang Yan Xu; Meng Zhang

doi:10.4028/www.scientific.net/AMR.462.474

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 462Double Closed-Loop Feedback Controller Design for...

Double Closed-Loop Feedback Controller Design for Micro Indoor Smart Autonomous Robot

Abstract:

In order to improve the control system performance of a Micro Indoor Smart Autonomous Robot, an embedded control system based on STM32 processor is proposed and a double closed-loop control structure is applied. The mathematical model is set up and kinematic model is simulated in Matlab/Simulink to estimate the PID parameters. Then the controller is experimented on robot and parameters are adjusted till getting good performance. The results show that the controller is stable and effective.

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Periodical:

Advanced Materials Research (Volume 462)

Pages:

474-479

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.462.474

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Online since:

February 2012

Authors:

Guang Yan Xu, Meng Zhang

Keywords:

Double Closed-Loop Control, MISAR, PID Algorithm, STM32 Microprocessor

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