Concepts of adaptive control in engineering applications

CoE
Drones &
Robotics
Whiteline Follower Robot

February 17, 2025 White_Line_Follower_Robot_Firebird 2
Agenda
• Concepts of Adaptive Control
• Line follower Robot –
Firebird V robot using the ATMEGA 2560 microcontroller.

Adaptive Control System
• Control system - parameters and behavior in real-time to adapt to
changes in the system it is controlling
Performance
Stability
Uncertainities

Classification – Different Approaches
Control Methods
Direct Adaptive
Control
Indirect
Adaptive
Control

Atmega2560 Robot

White line Follower
• LCD interfacing
• Motion Control
• PWM generation - Velocity Control
• ADC interfacing

White Line Sensor
• Transmitter – Red LED
• Receiver – Phototransistor

Photo Transistor
• Light activated device
• Transistor enclosed in a glass casing

Working

LCD Interfacing

Various Motion

Driver Circuit – L293D-IC

Motor Pin Connection

Logic Table

Motion Control using PWM

Duty Cycle

PWM generation in Firebird

Registers Used
• TCNT5H = 0xFF
• TCNT5L = 0x00
• TCCR5A = 0xA9
• TCCR5A = 0x0B
• OCR5AH = 0x00
• OCR5AL = 0xFF
• OCR5BH = 0x00
• OCR5BH = 0xFF

Interrupts

Position Encoder

Need for ADC
• IR Proximity sensors
• Sharp IR range sensors
• White line sensors
• Battery voltage sensors etc.,

February 17, 2025 28
ADC Channels
White_Line_Follower_Robot_Firebird

ADC Registers
• ADCSRA
• ADCSRB
• ADMUX
• ACSR

ADC Control and Status Register A

ADMUX

ACSR- Analog Comparator control ans
Status Register

Program
White_Line_Following.c
lcd.c

libraries
• #include <avr/io.h>
• #include <avr/interrupt.h>
• #include <util/delay.h>
• #include <math.h> //included to support power function
• #include "lcd.c"

Function Prototypes
• void port_init();
• void timer5_init();
• void velocity(unsigned char,
unsigned char);
• void motors_delay();
• Unsigned char
ADC_Conversion(unsigned char);
• void lcd_port_config(void);
• void adc_pin_config(void);
void motion_pin_config(void);
void adc_init(void);
void print_sensor(char, char, unsigned char);
void motion_set(unsigned char);
void forward(void);
void stop(void);
void init_devices(void);

Variables Declarations
• unsigned char ADC_Value;
• unsigned char flag = 0;
• unsigned char Left_white_line = 0;
• unsigned char Center_white_line = 0;
• unsigned char Right_white_line = 0;

Initialization Functions
• void lcd_port_config(void);
• void adc_pin_config(void);
• void motion_pin_config(void);
• void port_init(void);
• void timer5_init(void);
• void adc_init(void);

• Sensor Reading and Robot Control:
• The main loop continuously reads values from three white
line sensors (Left_white_line, Center_white_line,
Right_white_line).
• The robot adjusts its movement based on the sensor
readings, attempting to follow a path.
• Motor velocities are adjusted to guide the robot.

Output

THANK YOU

Concepts of adaptive control in engineering applications

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