Publication detail
Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control
GREPL, R.
Czech title
Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control
English title
Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control
Type
journal article - other
Language
en
Original abstract
This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).
Czech abstract
This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).
English abstract
This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finaly, the solution is verified on real physical model controlled by means of hardware in the loop (HIL).
Keywords in Czech
balancig wheeled robot, LQR, simulation, control
Keywords in English
balancig wheeled robot, LQR, simulation, control
RIV year
2009
Released
15.05.2009
ISSN
1802-1484
Journal
Engineering Mechanics
Volume
16
Number
2
Pages from–to
141–154
Pages count
14
BIBTEX
@article{BUT49531,
author="Robert {Grepl},
title="Balancing Wheeled Robot: Efective Modelling, Sensory Processing and Simplified Control",
journal="Engineering Mechanics",
year="2009",
volume="16",
number="2",
month="May",
pages="141--154",
issn="1802-1484"
}