Epersist: A Self Balancing Robot Using PID Controller And Deep Reinforcement Learning
This addresses the challenge of robust control for unstable robotic systems, though it appears incremental as it builds on existing PID and RL methods.
The paper tackles the problem of balancing a two-wheeled self-balancing robot, an inherently unstable system, by combining PID control and a novel self-trained advantage actor-critic reinforcement learning algorithm, achieving static equilibrium through calibrated control variables.
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 NodeMCUESP32 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.