Temat: balancing robot - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Modeling of two-wheeled self-balancing robot driven by DC gearmotors
Autorzy:: Frankovsky, P.
Dominik, L.
Gmiterko, A.
Virgala, I.
Kurylo, P.
Perminova, O.
Powiązania:: https://bibliotekanauki.pl/articles/266201.pdf
Data publikacji:: 2017
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: self-balancing robot
inverted pendulum
DC gearmotor
state space model
robot
wahadło odwrócone
motoreduktor
Opis:: This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot’s mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.
Źródło:: International Journal of Applied Mechanics and Engineering; 2017, 22, 3; 739-747
1734-4492
2353-9003
Pojawia się w:: International Journal of Applied Mechanics and Engineering
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Estimation of the angular position of a two–wheeled balancing robot using a real IMU with selected filters
Autorzy:: Laddach, Krzysztof
Łangowski, Rafał
Zubowicz, Tomasz
Powiązania:: https://bibliotekanauki.pl/articles/2173655.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: estimation
filters
measurement filtration
measurement system
two-wheeled balancing robot
oszacowanie
filtr
pomiar filtracji
system miar
robot dwukołowy balansujący
Opis:: A low–cost measurement system using filtering of measurements for two–wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, a–b type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 2; art. no. e140518
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Fuzzy-Arithmetic-Based Lyapunov Synthesis in the Design of Stable Fuzzy Controllers: a Computing-With-Words Approach
Autorzy:: Zhou, C.
Powiązania:: https://bibliotekanauki.pl/articles/908020.pdf
Data publikacji:: 2002
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: informatyka
fuzzy control
standard fuzzy arithmetic
constrained fuzzy arithmetic
Lyapunov synthesis
stability
computing with words
perception-based information
pole balancing mobile robot
Opis:: A novel approach to designing stable fuzzy controllers with perception-based information using fuzzy-arithmetic-based Lyapunov synthesis in the frame of computing with words (CW) is presented. It is shown that a set of conventional fuzzy control rules can be derived from the perception-based information using the standard-fuzzy-arithmetic-based Lyapunov synthesis approach. On the other hand, a singleton fuzzy controller can be devised by using a constrained-fuzzy-arithmetic-based Lyapunov synthesis approach. Furthermore, the stability of the fuzzy controllers can be guaranteed by means of the fuzzy version of Lyapunov stability analysis. Moreover, by introducing standard and constrained fuzzy arithmetic in CW, the "words" represented by fuzzy numbers could be efficiently manipulated to design fuzzy controllers. The results obtained are illustrated with the design of stable fuzzy controllers for an autonomous pole balancing mobile robot.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2002, 12, 3; 411-421
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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