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LeiWang Thesis_12202017.1.pdf (2.39 MB)
ETD Abstract Container
Abstract Header
Advanced Line-Follower Robot
Author Info
Wang, Lei, Wang
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=csu15138819177179
Abstract Details
Year and Degree
2017, Master of Science in Electrical Engineering, Cleveland State University, Washkewicz College of Engineering.
Abstract
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.
Committee
Zhiqiang Gao, Ph.D. (Committee Chair)
Lili Dong, Ph.D. (Committee Member)
Shiqi Zhang, Ph.D. (Committee Member)
Pages
90 p.
Subject Headings
Electrical Engineering
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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)
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Document number:
csu15138819177179
Download Count:
18,158
Copyright Info
© 2017, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.