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Epersist: A Two-Wheeled Self Balancing Robot Using PID Controller And Deep Reinforcement Learning
Ghanta Sai Krishna,Dyavat Sumith,Garika Akshay 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework Epersist is to overcome the challenge of counterbalancing an initially unstable system by delivering robust control mechanisms, Proportional Integral Derivative (PID), and Reinforcement Learning (RL). Moreover, the micro-controller NodeMCU ESP32 and inertial sensor in the Epersist employ fewer computational procedures to give accurate instruction regarding the spin of wheels to the motor driver, which helps control the wheels and balance the robot. This framework also consists of the mathematical model of the PID controller and a novel self-trained advantage actor-critic algorithm as the RL agent. After several experiments, control variable calibrations are made as the benchmark values to attain the angle of static equilibrium. This Epersist framework proposes PID and RL-assisted functional prototypes and simulations for better utility.
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