Dynamic Modelling Of A New Configuration Of Two Wheeled Robotic Machine On An Inclined Surface

被引：0
|
作者：
Agouri, S. [1 ]
Tokhi, O. [1 ]
Almeshal, A. [1 ]
Sayidmarie, O. [1 ]
Goher, K. [2 ]
机构：
[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield, S Yorkshire, England
[2] Sultan Qaboos Univ, Dept Mech & Ind Engn, Muscat, Oman
来源：
2012 17TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on a novel type of two wheeled robotic system. The system poses a challenging control problem in terms of combining upright balance, stability and maneuverability. The system is designed with the ability to move on irregular terrains such as frictional and inclined surfaces. The work investigates the dynamic modeling and control of the two-wheeled robotic machine moving on an inclined surface. This paper presents the dynamic modeling of the proposed system using the Lagrange approach. The model is built in Matlab Simulink environment and its controllability tested with a Proportional-integral-derivative (PID) control mechanism.
引用
收藏
页码：315 / 318
页数：4
相关论文
共 35 条
  • [31] A NEW MACHINE FOR METAL-SURFACE TREATMENT BY DYNAMIC MIXING USING A HIGH-CURRENT ION-SOURCE
    SATO, T
    OHATA, K
    ASAHI, N
    ONO, Y
    OKA, Y
    HASHIMOTO, I
    JOURNAL OF VACUUM SCIENCE & TECHNOLOGY A-VACUUM SURFACES AND FILMS, 1986, 4 (03): : 784 - 787
  • [32] Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool
    Li, Yuwen
    Wang, Jinsong
    Liu, Xin-Jun
    Wang, Li-Ping
    MECHANISM AND MACHINE THEORY, 2010, 45 (11) : 1668 - 1680
  • [33] MODELLING OF NEAR-SURFACE SOIL MOISTURE USING MACHINE LEARNING AND MULTI-TEMPORAL SENTINEL 1 IMAGES IN NEW ZEALAND
    Hajdu, Istvan
    Yule, Ian
    Dehghan-Shoar, Mohammad Hossain
    IGARSS 2018 - 2018 IEEE INTERNATIONAL GEOSCIENCE AND REMOTE SENSING SYMPOSIUM, 2018, : 1422 - 1425
  • [34] Constraining surface emissions of air pollutants using inverse modelling: method intercomparison and a new two-step two-scale regularization approach
    Saide, Pablo
    Bocquet, Marc
    Osses, Axel
    Gallardo, Laura
    TELLUS SERIES B-CHEMICAL AND PHYSICAL METEOROLOGY, 2011, 63 (03): : 360 - 370
  • [35] New optimized configuration for a hybrid PVT solar/electrolyzer/absorption chiller system utilizing the response surface method as a machine learning technique and multi-objective optimization
    Assareh, Ehsanolah
    Asl, Seyed Sajad Mousavi
    Agarwal, Neha
    Ahmadinejad, Mehrdad
    Ghodrat, Maryam
    Lee, Moonyong
    ENERGY, 2023, 281
1234