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Full-Text Articles in Controls and Control Theory
Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem
Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem
Master's Theses
The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …
Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii
Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii
University of New Orleans Theses and Dissertations
An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle necessitating both a theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion within is theorized to produce ``wakeless'' swimming (Vorus, 2011), a reactive swimming technique that produces thrust by accelerations of the added mass in the vicinity of the body. The net circulation for the unsteady motion is theorized to be eliminated.
The robot was designed to replicate the desired, theoretical motion by applying control theory methods. Independent joint control was used due to hardware limitations. The fluid velocity vectors in the …
Derivation And Application Of A Conserved Orbital Energy For The Inverted Pendulum Bipedal Walking Model, Jerry E. Pratt, Sergey V. Drakunov
Derivation And Application Of A Conserved Orbital Energy For The Inverted Pendulum Bipedal Walking Model, Jerry E. Pratt, Sergey V. Drakunov
Sergey V. Drakunov
Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia
Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia
Mechanical Engineering Faculty Presentations
The paper suggests that fuzzy logic controllers present a computationally efficient and robust alternative to conventional controllers. The paper presents two possible structures for the distributed fuzzy logic controller of a single-link flexible manipulator. A linear quadratic regulator method is used to prove the effectiveness of fuzzy logic controllers.
Design Of Fuzzy Logic Controllers For Optimal Performance, Mohamed Trabia
Design Of Fuzzy Logic Controllers For Optimal Performance, Mohamed Trabia
Mechanical Engineering Faculty Presentations
While fuzzy logic controllers are generally robust, the performance of a system whose behavior is not well understood, or that has a large number of coupled inputs and outputs, may be less than optimal. In this paper, nonlinear programming techniques are used to improve the performance of a fuzzy logic controller for navigating an autonomous vehicle.