PID CONTROLLER BASED ON A GYROSCOPE SENSOR FOR AN OMNIDIRECTIONAL MOBILE PLATFORM

This paper refers to the design of the control of an omnidirectional mobile platform, by implementing a PID controller having as input signal a gyroscope sensor, which will indicate in real time the orientation angle of the platform. The use of this system follows the position and angle of orientati...

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Bibliographic Details
Published inProceedings in Manufacturing Systems Vol. 15; no. 1; pp. 27 - 34
Main Authors Marosan, Adrian, Constantin, George
Format Journal Article
LanguageEnglish
Published Bucharest University "Politehnica" of Bucharest, Machine and Manufacturing Systems Department and Association ICMAS 01.01.2020
Subjects
Accelerometers
Algorithms
Angular position
Angular speed
Control algorithms
Control theory
Controllers
Microcontrollers
Microelectromechanical systems
Proportional integral derivative
Robots
Sensors
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Summary:This paper refers to the design of the control of an omnidirectional mobile platform, by implementing a PID controller having as input signal a gyroscope sensor, which will indicate in real time the orientation angle of the platform. The use of this system follows the position and angle of orientation to control the angular and linear speed of the omnidirectional robot. A comparison is made between the system with direct control and the one with the PID control algorithm based on the gyroscope sensor. The entire system is controlled by an Arduino Mega 2560 development board, based on an Atmega microcontroller. Following the tests performed, the controller presented in this paper offers an optimal solution to minimize the differences between the reference and the output trajectory. The obtained results demonstrate the effectiveness of the proposed algorithms in the control of omnidirectional mobile platforms.
ISSN:2067-9238
2343-7472