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Advanced Line-Follower Robot

Wang, Lei, Wang

Abstract Details

2017, Master of Science in Electrical Engineering, Cleveland State University, Washkewicz College of Engineering.
In this research, an Advanced Line-follower Robot (ALFR) was designed and built. The ALFR mainly consists of the sensor array (QTR-8A), the high-performance microchips (TMS320f28335, TMS320f28069) and two motors (BLY172S-24V-4000). The ALFR keeps the basic function of the Line-follower Robot (LFR) but applies more advanced control theories, such as Proportional Integral Derivative (PID), Active Disturbance Rejection Control (ADRC) and Iterative Learning Control (ILC). PID and ADRC have been tested in the ALFR. The ALFR control problems and the results have been discussed in this thesis. Suggestions are also provided for research on unsolved problems. In particular, the mathematical models of ALFR have been established for both position and speed control. The solutions based on PID, ADRC and ILC are proposed and tested in simulation. The main objective of this thesis is realized in combining methods from control theories with realities in the context of formulating and solving practical problems in a physical process.
Zhiqiang Gao, Ph.D. (Committee Chair)
Lili Dong, Ph.D. (Committee Member)
Shiqi Zhang, Ph.D. (Committee Member)
90 p.

Recommended Citations

Citations

  • Wang, Wang, L. (2017). Advanced Line-Follower Robot [Master's thesis, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu15138819177179

    APA Style (7th edition)

  • Wang, Wang, Lei. Advanced Line-Follower Robot. 2017. Cleveland State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu15138819177179.

    MLA Style (8th edition)

  • Wang, Wang, Lei. "Advanced Line-Follower Robot." Master's thesis, Cleveland State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=csu15138819177179

    Chicago Manual of Style (17th edition)