Advanced Line-Follower Robot

摘要

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.