Detalhes bibliográficos
| Resumo: | This paper describes the design and implementation of a self-balancing two-wheeled robot, the Equilibrist Robot. The system is similar to the classical unstable, non-linear mechanical control problem of an inverted pendulum on a cart. Using the Linear Quadratic Regulator method and PID for state feedback, this paper shows a control algorithm that solves this problem. This control is able to reject disturbances and stabilize the system using a gyroscope. The control algorithm is implemented using Matlab and C- programing. The Equilibrist manages to stabilize itself in an upright position, reject disturbances and change its position. |
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| Autores principais: | Silva, Vinicius Corrêa Alves |
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| Outros Autores: | Leite, Pedro; Soares, Filomena; Lopes, Gil; Esteves, João Sena; Garrido, Paulo |
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| Assunto: | Inverted Pendulum Linear Quadratic Regulator Servo and Regulator Control Lego Robot |
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| Ano: | 2015 |
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| País: | Portugal |
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| Tipo de documento: | comunicação em conferência |
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| Tipo de acesso: | acesso aberto |
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| Instituição associada: | Universidade do Minho |
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| Idioma: | inglês |
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| Origem: | RepositóriUM - Universidade do Minho |
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