Microcomputer-Based Adaptive Control Applied to Thyristor-Driven DC-Motors

Keuchel, U.; Stephan, R.M.

doi:10.1007/978-1-4471-2076-6

Cited by 9 publications

(1 citation statement)

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“…The concept of robotics initially hinges on the classical technique of bringing functional parts together to achieve a unified task which could be mechanical based, that is following the conservation of energy or electrical-based, that is adopting actuators among others [1][2]. These robots in a sense are concerned with synthesizing human functions and based on most classical attempt, robot hobbyist tries to model a generalized mathematical equation to depict the behaviour of the robot and further extend it to carry out other tactical functions.…”

Section: Introductionmentioning

confidence: 99%

Stability Control Modelling Under Dynamic Motion Scenario of a Differential Drive Robot

O.Owojori¹,

Akingbade²,

Apena³

et al. 2022

JESR

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Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included.

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Section: Introductionmentioning

confidence: 99%