FPGA Control of a Mobile Inverted Pendulum Robot
نویسندگان
چکیده
منابع مشابه
Design and control of Two-Wheeled Inverted Pendulum Mobile Robot
This paper addresses design and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop control scheme is proposed to help the robot ...
متن کاملReal Time Control of Inverted Pendulum using FPGA
The Inverted Pendulum is one of the most important classical problems of Control Engineering. In this paper, a real-time control for stabilization of inverted pendulum is developed using PID controller. The implementation platform chosen here is FPGA because it exhibits some superior qualities over traditional processors such as parallel processing capability, high sampling rates, flexibility i...
متن کاملInverted Pendulum Control Using Negative Data
In the training phase of learning algorithms, it is always important to have a suitable training data set. The presence of outliers, noise data, and inappropriate data always affects the performance of existing algorithms. The active learning method (ALM) is one of the powerful tools in soft computing inspired by the computation of the human brain. The operation of this algorithm is complete...
متن کاملJOE: a mobile, inverted pendulum
The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology (EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to ke...
متن کاملReal-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot
The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Institute of Engineering
سال: 1970
ISSN: 1810-3383
DOI: 10.3126/jie.v8i1-2.5111