Closed-Loop Controllers for Angular Speed and Angular Position Control of Lego Robots

In this paper, the modeling, the design and validation of a cascade control system (CS) structure for the angular speed and angular position control of a Lego Robot are presented. In the first step, the determination of the five parameters of the state-space model of the robot is conducted using a metaheuristic Grey Wolf Optimizer algorithm. After that, the state-space model of the Lego Robot is used in the design of a cascade CS structure, which contains a Proportional-Integral controller in the inner control loop for the angular speed control and a Proportional-IntegralDerivative controller in the outer control loop for the angular position control. The cascade CS structure was next tested in an experimental scenario and the results in terms of angular position, angular speed and intensity of reflected light are presented.