Open Access iconOpen Access

ARTICLE

crossmark

Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

Van-Truong Nguyen1,*, Dai-Nhan Duong1, Dinh-Hieu Phan1, Thanh-Lam Bui1, Xiem HoangVan2, Phan Xuan Tan3

1 Faculty of Mechatronics, SMAE, Hanoi University of Industry, Hanoi, 159999, Vietnam
2 Faculty of Electronics and Telecommunications, Vietnam National University–University of Engineering and Technology (VNU-UET), Hanoi, 10000, Vietnam
3 College of Engineering, Shibaura Institute of Technology, Tokyo, 135-8548, Japan

* Corresponding Author: Van-Truong Nguyen. Email: email

(This article belongs to the Special Issue: Intelligent Manufacturing, Robotics and Control Engineering)

Computers, Materials & Continua 2024, 81(2), 2337-2356. https://doi.org/10.32604/cmc.2024.055412

Abstract

This paper proposes an adaptive nonlinear proportional-derivative (ANPD) controller for a two-wheeled self-balancing robot (TWSB) modeled by the Lagrange equation with external forces. The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative (NPD) controller and a genetic algorithm, in which the proportional-derivative (PD) parameters are updated online based on the tracking error and the preset error threshold. In addition, the genetic algorithm is employed to adaptively select initial controller parameters, contributing to system stability and improved control accuracy. The proposed controller is basic in design yet simple to implement. The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces. The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory, providing theoretical assurance of its robustness. Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors, demonstrating the effectiveness and performance of the proposed controller. The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots, which has great applicability in the field of robot control systems. This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

Keywords


Cite This Article

APA Style
Nguyen, V., Duong, D., Phan, D., Bui, T., HoangVan, X. et al. (2024). Adaptive nonlinear PD controller of two-wheeled self-balancing robot with external force. Computers, Materials & Continua, 81(2), 2337-2356. https://doi.org/10.32604/cmc.2024.055412
Vancouver Style
Nguyen V, Duong D, Phan D, Bui T, HoangVan X, Tan PX. Adaptive nonlinear PD controller of two-wheeled self-balancing robot with external force. Comput Mater Contin. 2024;81(2):2337-2356 https://doi.org/10.32604/cmc.2024.055412
IEEE Style
V. Nguyen, D. Duong, D. Phan, T. Bui, X. HoangVan, and P.X. Tan, “Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force,” Comput. Mater. Contin., vol. 81, no. 2, pp. 2337-2356, 2024. https://doi.org/10.32604/cmc.2024.055412



cc Copyright © 2024 The Author(s). Published by Tech Science Press.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
  • 345

    View

  • 143

    Download

  • 0

    Like

Share Link