Models of Two-Wheeled Mobile Robots with Experimental Validation

被引：0
|
作者：
Komor, Denis [1 ,2 ]
Roman, Raul-Cristian [1 ]
Precup, Radu-Emil [1 ]
David, Radu-Codrut [1 ]
Panfilii, Ion [1 ]
机构：
[1] Politehn Univ Timisoara, Dept Aut Appl Informat, Timisoara, Romania
[2] Univ Augsburg, Dept Control Theory, Augsburg, Germany
来源：
2020 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED COMPUTATIONAL INTELLIGENCE AND INFORMATICS (SACI 2020) | 2020年
关键词：
Model verification; optimization; process identification; Two-wheeled Unstable Transporter; FUZZY CONTROLLERS; DESIGN; PENDULUM; LOGIC;
D O I：
10.1109/saci49304.2020.9118823
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Two wheeled mobile robots are fully autonomous and self-balancing vehicles. As these systems are nonlinear and open-loop unstable, various and complex control algorithms are needed to guarantee the dynamic system stability. One requirement for the development of a suitable controller is the availability of a reliable mathematical model. This paper treats the mathematical modeling of Two-wheeled Unstable Transporter (UnTrans). The mathematical model of UnTrans is identified using the input/output collected data after a realtime experiment and Grey Wolf Optimizer algorithm.
引用
收藏
页码：211 / 216
页数：6
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