Open Access. Powered by Scholars. Published by Universities.®
- Discipline
- Publication
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Fuzzy Logic Control Of An Inverted Pendulum Robot, Kyle Reid
Fuzzy Logic Control Of An Inverted Pendulum Robot, Kyle Reid
Electrical Engineering
The inverted pendulum is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Over the years it has been the benchmark for testing new and innovative control theories such as Fuzzy Logic. During the course of this project a software fuzzy logic controller was implemented using a PIC microcontroller. At the conclusion of the experiment an interesting realization was made about the nature of Fuzzy Logic and its applicability in the world of controls.
Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman
Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman
Master's Theses
This thesis discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it is desirable to minimize the difference between each robot’s progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used to illustrate …