| Issue |
MATEC Web Conf.
Volume 154, 2018
The 2nd International Conference on Engineering and Technology for Sustainable Development (ICET4SD 2017)
|
|
|---|---|---|
| Article Number | 03002 | |
| Number of page(s) | 6 | |
| Section | Computer Sciences | |
| DOI | https://doi.org/10.1051/matecconf/201815403002 | |
| Published online | 28 February 2018 | |
Disturbance rejection using feed-forward control system on self balancing robot
Computer Engineering and Robotics Laboratory-Faculty of Computer Science-University of Brawijaya, Indonesia
* Corresponding author: barlian@ub.ac.id
This research implements self-balancing robot using 3 algorithms. There are PID Controller, Ensemble Kalman Filter and Feed-Forward Control system. The PID controller function is as a robot equilibrium control system. The Kalman Ensemble algorithm is used to reduce noise measurement of accelerometer and gyroscope sensors. The PID controller and Ensemble Kalman filter were implemented on self-balancing robot in previous research. In this paper, we added the Feed-Forward controller that serves to detect disturbance derived from the unevenness of the ground. Disturbance is detected using 2 proximity sensors. Base on test results that the system can detect disturbance with an average delay of 2.15 seconds at Kff optimal value is 2.92. Feed-Forward effects result in self-balancing robots increasing power so that the pitch of the robot changes to anticipation of disturbance.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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