Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F09%3APU80983" target="_blank" >RIV/00216305:26210/09:PU80983 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control

Original language description

This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence ofsensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).

Czech name

Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control

Czech description

This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence ofsensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).

Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2009

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Engineering Mechanics

ISSN

1802-1484

e-ISSN

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Volume of the periodical

16

Issue of the periodical within the volume

2

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

14

Pages from-to

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UT code for WoS article

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EID of the result in the Scopus database

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