PID Control of Elderly Assistant and Walking Assistant Robot

Abstract

In this paper, a PID controller is applied to control the speed and direction of an elderly-assistant and walking-assistant robot (EWR) by controlling the speed and direction of two 12V brushless DC (BLDC) motor driving two front hub wheel of the EWR. C code for the PID controller run on ATMega16 microcontroller. The parameter of a standard PID controller for the BLDC motor speed and direction control system under the investigation is tuned and fixed throughout the control. The result of the experiment on the real plant demonstrates that the PID controller is a good choice to suppress the oscillation due to the systems and sensors nonlinearity.