Modeling and implentation of PID control for autonomous robots

Download
Author
Williamson, Todd A.
Date
2007-06Advisor
Harkins, Richard
Second Reader
Crooker, Peter
Metadata
Show full item recordAbstract
PID control is optimized here to control the course of a small autonomous robot for military applications. A Visual Basic program was written to model the robot response to the controller and provide a method of optimization. The computer model is based on empirical data gathered through testing. Controller theory, robot mechanics, and hardware implementation are all discussed as they relate to the ability of the robot to get from one location to another along an efficient path. The controller was tuned to provide optimal direction control and the model was evaluated for accuracy. The robot completed a 170 degree pivot turn in 4.0 seconds and a 170 degree differential turn in 5.1 seconds. The time predicted by the model for the each turn was within 10% of what the robot did.
Collections
Related items
Showing items related by title, author, creator and subject.
-
Cooperative Control of Multiple Space Manipulators
Yale, G.; Agrawal, B.N. (1994);This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ... -
Spin stabilization of the ORION satellite using a thruster attitude control system with optimal control considerations
Cunningham, Janet L. (Naval Postgraduate School, 1989);The controlled system is the ORION satellite spinning about its single axis of symmetry. Hydrazine thrusters are used as the control and are modeled by ideal, constant magnitude step functions. The system is normalized and ... -
Active Position Control of a Shape Memory Alloy Wire Actuated Beam
Song, G.; Kelly, B.; Agrawal, B.N. (1999);This paper presents the design and experiment results of active position control of a shape memory alloy (SMA) wires actuated composite beam. The composite beam is honeycomb structured with shape memory alloy wires embedded ...