Publication detail
Model Based Design of a Self-Balancing Vehicle: a Mechatronic System Design Case Study
GREPL, R.
Czech title
Model based design modelování samovyrovnávajícího se vozidla (případová studie mechatronického systému)
English title
Model Based Design of a Self-Balancing Vehicle: a Mechatronic System Design Case Study
Type
conference paper
Language
en
Original abstract
This paper focuses on the parameter estimation of a nonlinear analytical model and on the implementation of fault management. A model based design framework was used to model, simulate and develop (PID, LQR/LQG controller) the system. The published results are based on our experiences with the designing and used of our own laboratory experimental vehicle.
Czech abstract
Tento článek se zaměřuje na odhad parametrů v nelineárním analytickém modelu a na implementaci techniky pro řízení chyb. Model based design byl použitý jako rámec pro vývoj modelu, simulace a vývoj jednotlivých komponent systému (PID, LQR/LQG regulátoru). Představené výsledky vycházejí z našich zkušeností při vývoji zařízení a jsou použité při měřeních s experimentálním vozidlem.
English abstract
This paper focuses on the parameter estimation of a nonlinear analytical model and on the implementation of fault management. A model based design framework was used to model, simulate and develop (PID, LQR/LQG controller) the system. The published results are based on our experiences with the designing and used of our own laboratory experimental vehicle.
Keywords in Czech
samo balancující, model based design, odhad parametrů, nelineární systém
Keywords in English
self balancing, model based design, parameter estimation, non-linear
RIV year
2013
Released
09.10.2013
Publisher
Springer
Location
Cham, Heidelberg, New York, Dordrecht, London
ISBN
978-3-319-02293-2
Book
Mechatronics 2013: Recent Technological and Scientific Advances
Pages from–to
869–876
Pages count
8
BIBTEX
@inproceedings{BUT105376,
author="Robert {Grepl},
title="Model Based Design of a Self-Balancing Vehicle: a Mechatronic System Design Case Study ",
booktitle="Mechatronics 2013: Recent Technological and Scientific Advances",
year="2013",
month="October",
pages="869--876",
publisher="Springer",
address="Cham, Heidelberg, New York, Dordrecht, London",
isbn="978-3-319-02293-2"
}