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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. …
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.