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سی امین کنفرانس بین المللی مهندسی برق
Design and Implementation of a Data-Driven Controller for a Two-Wheeled Self-Balancing Robot
نویسندگان :
Mohammad Akhavan
1
Haniye Parvahan
2
Mojtaba Nouri Manzar
3
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.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
