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University of Arkansas, Fayetteville
Deep Learning;Dynamic Modeling;Mobile Robotics;Nonlinear Systems Control;Robust Control
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Modeling And Control Strategies For A Two-Wheel Balancing Mobile Robot, John Alan Moritz
Modeling And Control Strategies For A Two-Wheel Balancing Mobile Robot, John Alan Moritz
Graduate Theses and Dissertations
The problem of balancing and autonomously navigating a two-wheel mobile robot is an increasingly active area of research, due to its potential applications in last-mile delivery, pedestrian transportation, warehouse automation, parts supply, agriculture, surveillance, and monitoring. This thesis investigates the design and control of a two-wheel balancing mobile robot using three different control strategies: Proportional Integral Derivative (PID) controllers, Sliding Mode Control, and Deep Q-Learning methodology. The mobile robot is modeled using a dynamic and kinematic model, and its motion is simulated in a custom MATLAB/Simulink environment. The first part of the thesis focuses on developing a dynamic and kinematic …