To Use Sensory Information as Feedback for High Performance Realtime Robotics Applications

摘要：

The paper will demonstrate the techniques involved in balancing an unstable robotic platform. The platform will be an ideal for the implementations of both PID digital control and Kalman filter algorithms. Both algorithms will provide the necessary control for the system. Therefore the presented paper will investigate the performance of both PID digital control and Kalman filter algorithms. The control system performance is directly dependent on Kalman filter and PID controller input parameters. The results clearly show how the adjustable parameters on the control system directly affected the overall system performance.

关键词： PID control Kalman filter inverted pendulum feedback systems

作者: Muhammad Suhail Ammar Ishaqui

作者单位: Department of Electronic Engineering NED University of Engineering & Technology,Karachi,Pakistan

会议类型: 国际会议

会议名称: 2011 International Conference on Opto-Electronics Engineering and Information Science(2011光电电子工程与信息科学国际会议 ICOEIS 2011)

会议地点: 西安

会议语种:英文

页码: 1840-1844

在线出版日期: 2011-12-23（万方平台首次上网日期，不代表论文的发表时间）