کنفرانس مهندسی برق ایران

صفحه اصلی / سی امین کنفرانس بین المللی مهندسی برق

Design and Implementation of a Data-Driven Controller for a Two-Wheeled Self-Balancing Robot

نویسندگان :

Mohammad Akhavan¹ Haniye Parvahan² Mojtaba Nouri Manzar³

1- دانشگاه شهید بهشتی 2- دانشگاه شهید بهشتی 3- دانشگاه شهید بهشتی

کلمات کلیدی :

Data-Driven control،Two-wheeled self-balancing robot،PID control،Controller Implementation.

چکیده :

The two-wheeled robot system has several uncertainties, that modeling the real nonlinear dynamical system is quite challenging. This paper presents designing and implementing a Data-Driven controller for a two-wheeled self-balancing robot only based on input-output system data. No model or identification is used in this paper. Two steps are required to design a data-based controller. First, a test is done on the real system, and input-output data is recorded. Then, based on available data, a linear matrix inequality problem is solved to design the controller. The results indicate that the proposed data-driven controller has better performance rather than a well-designed PID controller in real practical experiments.

لیست مقالات

لیست مقالات بایگانی شده

Towards Non-Invasive Deep Brain Stimulation Using Temporal Interference Method

Mehdi Gholami - Farshid Ghobadzadeh - Fatemeh Yazdanshenas - Amir Yazdani - Mohammad Neshat

Using GA and ML to Improve LoRa Network Performance

Yas Hosseini Tehrani - Seyed mojtaba Atarodi

آشکارسازی گاز فسژن با استفاده از بروفن تک لایه 12 β: شبیه سازی با استفاده از نظریه تابعی چگالی

صادق رنجبر - رزا صفایی - محمدحسین شیخی

Sum Rate Maximization in STAR-RIS Assisted D2D Communications

Mohammad Reza Kavianinia - Mohammad Javad Emadi

Optimal Energy Management of EVs in intelligent parking lots with Considering solar panels

Noorallah Yavari - Fatemeh Jahanbani Ardakani - Alireza Sedighi Anaraki

Efficient Full Adders for Approximate Arithmetic Units in the Image Processing Applications

Bahram Rashidi

Efficient NVIS HF Hinged Half-Loop Vehicular Antenna Using Modal Analysis

Nasser Haghighat - Javad Nourinia - Changiz Ghobadi - Keyhan Hosseini - Farzad Alizadeh - Bahman Mohammadi

یک روش تشخیص و تصحیح خطا برای بلوک های داده

سعیده صادقی - محسن راجی

بررسی اثر فیدبک نوری بر مشخصه های دینامیکی لیزرهای قفل مد سیلیکونی

محمد شکرپور - محمد حسن یاوری

A modified Dempster Shafer approach to classification in surgical skill assessment

Arash Iranfar - Mohammad Soleymannejad - Behzad Moshiri - Hamid D. Taghirad

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2