Van-Truong Nguyen1,*, Dai-Nhan Duong1, Dinh-Hieu Phan1, Thanh-Lam Bui1, Xiem HoangVan2, Phan Xuan Tan3
CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 2337-2356, 2024, DOI:10.32604/cmc.2024.055412
- 18 November 2024
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… More >
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