منابع مشابه
JOE: 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 کاملInverted Pendulum
In this work we have tried to create an inverted pendulum using standard PC hardware. The pendulum in this project has been mounted onto a printer. A serial mouse serves as an angle sensor. The software controller has been implemented bare metal using a common micro controller architecture.
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 کاملDesign 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 کاملControlling the Inverted Pendulum
The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are em...
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: IEEE Transactions on Industrial Electronics
سال: 2002
ISSN: 0278-0046
DOI: 10.1109/41.982254