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Design and control of YAIP - an inverted pendulum on two wheels robot

Författare:
Publiceringsår: 2006
Språk: Engelska
Sidor: 1357-1362
Publikation/Tidskrift/Serie: 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Dokumenttyp: Konferensbidrag
Förlag: IEEE Press

Sammanfattning

In this paper we describe the design and control of an inverted pendulum type robot on two wheels. The objective of the design is to provide a flexible platform intended for teaching and research, which provides rich opportunities for application of signal processing, control design, distributed control systems and consideration of implementation issues. In addition, a design constraint has been to use low-cost components. Issues such as selection of hardware and sensors, signal processing, modeling and control are treated. Special attention is given to the problem of obtaining high accuracy velocity estimates using analog encoder signals

Disputation

Nyckelord

  • Technology and Engineering
  • analog encoder signals
  • distributed control system
  • control design
  • signal processing
  • inverted pendulum type robot
  • YAIP
  • wheeled robot

Övriga

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
4-6 Oct. 2006
Munich, Germany
Published
Yes
  • ISBN: 0-7803-9797-5

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