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

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

Abstract

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

Detaljer

Författare
Enheter & grupper
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik

Nyckelord

Originalspråkengelska
Titel på värdpublikation2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor1357-1362
Antal sidor6
ISBN (tryckt)0-7803-9797-5
StatusPublished - 2006
PublikationskategoriForskning
Peer review utfördJa
Evenemang2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control - Munich, Tyskland
Varaktighet: 2006 okt 42006 okt 6

Konferens

Konferens2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
LandTyskland
OrtMunich
Period2006/10/042006/10/06