文章基本信息

标题：Disturbance rejection using feed-forward control system on self balancing robot
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作者：Barlian Henryranu Prasetio ; Wijaya Kurniawan
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：154
DOI：10.1051/matecconf/201815403002
语种：English
出版社：EDP Sciences
摘要：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.