Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/52961
Título: | Controlling an equilibrist Lego robot |
Autor(es): | Silva, Vinicius Corrêa Alves Leite, Pedro Soares, Filomena Lopes, Gil Esteves, João Sena Garrido, Paulo |
Palavras-chave: | Inverted Pendulum Linear Quadratic Regulator Servo and Regulator Control Lego Robot |
Data: | 2015 |
Editora: | International Association of Engineers (IAENG) |
Revista: | Lecture Notes in Engineering and Computer Science |
Resumo(s): | 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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/52961 |
ISBN: | 978-988-19253-4-3 |
ISSN: | 2078-0958 |
e-ISSN: | 2078-0966 |
Versão da editora: | http://www.iaeng.org/publication/WCE2015/WCE2015_pp215-220.pdf |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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WCE2015_pp215-220.pdf | 626 kB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons