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