scholarly journals Design and Implementation of Line Follower Arduino Mobile Robot Using Matlab Simulink Toolbox

2021 ◽  
Vol 17 (2) ◽  
pp. 11-16
Author(s):  
Mazin Alwan ◽  
Anwar Green ◽  
Abdulazez Noori ◽  
Ammar Aldair
Keyword(s):  
Mobile Robot ◽  
Pid Controller ◽  
Pso Algorithm ◽  
Robot System ◽  
Steering Angle ◽  
Matlab Simulink ◽  
Design And Implementation ◽  
Dc Motors ◽  
Ir Sensors ◽  
And Control

The main problem of line follower robot is how to make the mobile robot follows a desired path (which is a line drawn on the floor) smoothly and accurately in shortest time. In this paper, the design and implementation of a complex line follower mission is presented by using Matlab Simulink toolbox. The motion of mobile robot on the complex path is simulated by using the Robot Simulator which is programed in Matlab to design and test the performance of the proposed line follower algorithm and the designed PID controller. Due to the complexity of selection the parameters of PID controller, the Particle Swarm Optimization (PSO) algorithm are used to select and tune the parameters of designed PID controller. Five Infrared Ray (IR) sensors are used to collect the information about the location of mobile robot with respect to the desired path (black line). Depending on the collected information, the steering angle of the mobile robot will be controlled to maintain the robot on the desired path by controlling the speed of actuators (two DC motors). The obtained simulation results show that, the motion of mobile robot is still stable even the complex maneuver is performed. The hardware design of the robot system is perform by using the Arduino Mobile Robot (AMR). The Simulink Support Package for Arduino and control system toolbox are used to program the AMR. The practical results show that the performances of real mobile robot are exactly the same of the performances of simulated mobile robot.

Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm

2013 ◽  
Vol 393 ◽  
pp. 586-591
Author(s):  
Khairul Azmi Mahadhir ◽  
Cheng Yee Low ◽  
Hizzul Hamli ◽  
Ahmed Jaffar ◽  
Elwan Salleh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real Time ◽  
Pid Controller ◽  
Closed Loop ◽  
Stair Climbing ◽  
Matlab Simulink ◽  
Dc Motors

On both natural and manmade terrains, the maneuverability of mobile robots has been improving. Nevertheless, stair climbing remains a challenging functionality for mobile robots. In this paper, a step-by-step stair climbing approach is proposed for a track-driven mobile robot equipped with flipper arms. The flipper arms are actuated by DC motors controlled by PID controller. Potentiometers and rotary encoders are used to provide closed loop feedbacks. Executable codes are generated using Real-Time Workshop of MATLAB/Simulink. The reference angles to be followed by the flipper arm in stair climbing are emulated and verified by real time experiments.

scholarly journals Straddle Robot Design and control with a PID controller optimized by PSO algorithms

2020 ◽  
Vol 5 (2) ◽  
pp. 142-147
Author(s):  
Youcef ZENNIR ◽  
Sami GRIEF ◽  
Elarkam MECHHOUD
Keyword(s):  
Genetic Algorithm ◽  
Pid Controller ◽  
Pso Algorithm ◽  
Grey Wolf Optimizer ◽  
Robot Design ◽  
Grey Wolf ◽  
Steering Angle ◽  
And Control ◽  
Future Work ◽  
The Mathematical Model

The work presented in this paper illustrates the design and control of a straddle robot-type four-wheel moving robot with PID controller adjusted by meta-genetic algorithms genetic Algorithm (GA) and PSO. The approach used for the simulation is a modeless approach because it assumes no knowledge of the mathematical model of the system, indeed, the mechanical structure was implemented under SolidWorks, then a simulation (Solidworks, Simulink) has was conducted using particle swarm optimization (PSO) techniques for controller parameter optimization (PID) to control the steering angle and angular velocity of each wheel. The results obtained clearly illustrate the effectiveness of the selected control architecture and the accuracy is better with the use of the PSO algorithm. In a future work, we compare the results with using other optimization algorithms like GA (Genetic Algorithm) and GWO (Grey Wolf Optimizer) algorithm.

Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot

2012 ◽  
Vol 538-541 ◽  
pp. 2636-2640
Author(s):  
Shi Zhu Feng ◽  
Ming Xu
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Pid Controller ◽  
Mobile Robotics ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Control Technology ◽  
Robot System

Robotics is a spiry integral technology of mechanics, electrics and cybernetics. Through systematical study of a wheeled mobile robot, The kinematic model of it is deduced. A Cerebella Model Articulation Controller (CMAC) PID controller was developed to control the motion to accomplish the realistic motions of the wheeled mobile robot system. The experimental is carried out. The results prove the algorithm is correct, and indicate that the design of CMAC-PID controller is a success. The whole research will provide a reference to the study of the mobile robotics.

Vision Based Interface and Control of Assistive Mobile Robot System

2007 ◽  
Author(s):  
Motoki Takagi ◽  
Yoshiyuki Takahashi ◽  
Shinichiro Yamamoto ◽  
Hiroyuki Koyama ◽  
Takashi Komeda
Keyword(s):  
Mobile Robot ◽  
Robot System ◽  
And Control

scholarly journals DC Motor Speed Control using Internal Model Controller: Industrial Transformation Strategy

2020 ◽  
Vol 9 (5) ◽  
pp. 300-306
Keyword(s):  
Transfer Function ◽  
Pid Control ◽  
Pid Controller ◽  
Internal Model ◽  
Dc Motor ◽  
Motor Speed ◽  
Matlab Simulink ◽  
Dc Motors ◽  
Control Schemes ◽  
Motor Model

In developed nations, industries are made to function at control engineering costs via the use of appropriate control schemes for dc motors. This paper introduces the role played by dc motors in industries thereby necessitating the analysis and performance validation of dc motor in Internal Model Control (IMC) scheme as against the Proportional– Integral–Derivative (PID) control schemes that is widely used in most industries. Theories on dc motor model, PID and IMC controller were detailed to paved the way for the methodical approach of getting specifications and transfer function for a typical dc motor (model RMCS-3011). Matlab/Simulink software was then used to tune the PID controller for the purpose of finding the values of PID gains that meets the design requirements to achieve best performance, thereby enabling the simulation of the PID controller. Using Matlab m-file environment, IMC controller transfer function was generated and simulated. The IMC controller transfer function aimed at achieving a unity gain that tracks the set-point was approximately realized. In the realization process, it was obvious that a filter is required. The aim of this work is to evaluate the performance of the IMC controller over PID controller. Simulated plots in Matlab-Simulink using the PID gains for the PID controller, and time constants and filter order for the IMC were presented. The quantitative results of the IMC method when compared with that of PID control provides a commendable performance. However, the performance in terms of rise time is small and preferred with the use of Matlab-Simulink tuned PID controller. Conclusively, IMC controller would be the preferred controller where the robustness and accuracy of the dc motor speed control counts more than faster response

scholarly journals Analisis Penalaan Kontrol PID pada Simulasi Kendali Kecepatan Putaran Motor DC Berbeban menggunakan Metode Heuristik

2013 ◽  
Vol 1 (2) ◽  
pp. 79 ◽  
Author(s):  
WALUYO WALUYO ◽  
ADITYA FITRIANSYAH ◽  
SYAHRIAL SYAHRIAL
Keyword(s):  
Steady State ◽  
Rise Time ◽  
Pid Controller ◽  
Settling Time ◽  
Control Parameters ◽  
Motor Speed ◽  
Set Point ◽  
Dc Motors ◽  
And Control ◽  
Peak Value

ABSTRAKMotor DC banyak digunakan di industri kecil dan besar.Kecepatan motor DC sering tidak stabil akibat gangguan dari luar maupun perubahan parameter dan torsi beban sehingga perlu dilakukan rancangan kontroler.Kontroler yang dirancang menggunakan PID yang terdiri dari tiga jenis cara pengaturan yang dikombinasikan, yaitu kontrol P (Proportional), kontrol I (Integral) dan kontrol D (Derivatif).Kontroler yang dirancang disimulasikan menggunakan perangkat lunak. Hasil simulasi menunjukan kontroler PID untuk kendali kecepatan motor DC ini menghasilkan kondisi robust (kokoh) saat nilai Kp = 1,1, Ti = 0,1, Td = 3,7. Hasil dari parameter kendali yang dirancang memiliki error steady state 0,99 % dan dengan settling time 3,7 detik pada rise time 2,00 detik dan nilai peak terletak pada 0,99. Kecepatan awal yang dihasilkan mendekati set point yang diinginkan pada detik ke 6 dan kecepatannya tidak ada penurunan atau tetap konstan sampai dengan detik ke 100.Kata kunci: Motor DC, PID, Heuristik, Steady State, Rise Time ABSTRACT DC motors are widely used in small and large industries. Their speeds are often unstable due to interference from outside or change the parameters and load torque, so that it was necessary to design a controller. The controller was designed using a PIDconsists of three types of arrangements, which are mutually combined way, namely the control P (Proportional), control I (Integral) and control D (Derivative). The controllers were designed using software for simulation. The simulation results showed the PID controller for DC motor speed control produced robust conditionswhen the value of Kp, Ti and Tdwere 1.1,  0.1 and 3.7 respectively. The results of the control parameters had error steady state 0.99 % and the settling time of 3.7 seconds at 2.0 sec rise time and the peak value was 0,99. The resulted initial velocity was very fast to approach the desired set point in the sixth second and its speed was remain constant until 100thsecond.Keywords: Motor DC, PID, Heuristic, Steady State, Rise Time

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