ISSAI Research Project
Paper
Linear Actuator Controller with PID Control
Jun 2024
The Problem
Tensegrity robots require precise control systems for stable operation. Manual tuning of 6 actuators with positioning accuracy of ±0.1mm is complex and time-consuming.
The Solution
Arduino-based control system with advanced PID controller (Kp, Ki, Kd, Kf feedforward) managing 6 linear actuators. Modular architecture with telemetry system for real-time monitoring.
Key Innovation:
- •6-actuator control system
- •PID with feedforward (Kp, Ki, Kd, Kf)
- •Real-time telemetry monitoring
- •Position range: 0-73.8mm
- •Modular OOP architecture
- •Safety: automatic power limitation
Results
Positioning accuracy: ±0.1mm, Update frequency: ~100Hz, Response time: <10ms
Top 9% (30/350 international applicants) - ISSAI Summer Research Program 2024
Tech Stack
Backend
- ├─Arduino (C++)
- ├─PID Control Algorithm
Infrastructure
- ├─H-bridge Motor Drivers
- ├─Linear Actuators
- ├─Potentiometers
- ├─SolidWorks CAD