Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Modeling and implentation of PID control for autonomous robots

Thumbnail
Download
Icon07Jun_Williamson.pdf (1.248Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Williamson, Todd A.
Date
2007-06
Advisor
Harkins, Richard
Second Reader
Crooker, Peter
Metadata
Show full item record
Abstract
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.
URI
http://hdl.handle.net/10945/3470
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    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 ...
  • Thumbnail

    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 ...
  • Thumbnail

    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 ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.