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

Event-triggered SOF Control of Descriptor Switched Systems

Hamidreza Ahmadzadeh - Masoud Shafiee - Iman Zamani

High-Resolution Remote Sensing Image Captioning Based on Structured Attention and SAM Network

Yassin Riyazi - Seyyed Mostafa Sadjadi - Abbas Zohrevand - Reshad Hosseini

Fault tolerant control design for linear systems based on cubic observers

Mahsa Hasanshahi - Malihe Maghfoori Farsangi - Elham Amini Boroujeni

Real-Time Stress Detection via Photoplethysmogram Signals: Implementation of a Combined Continuous Wavelet Transform and Convolutional Neural Network on Resource-Constrained Microcontrollers

Yasin Hasanpoor - Amin Rostami - Bahram Tarvirdizadeh - Khalil Alipour - Mohammad Ghamari

Reactive Power Compensation in Distribution Grids: An Application of Trinary Cascaded H-bridge Multilevel Inverter

Yousef Neyshabouri - Mohammad Farhadi-Kangarlu

The effect of metal rods in a hybrid plasmonic-photonic crystal cavity design

Leila Hajshahvaladi - Hassan Kaatuzian - Mohammad Danaie - Amirhossein Abdollahi Nohiji

طبقه‌بندی تصاویر سلولی پاپ اسمیر مبتنی بر الگوریتم‌های ترتیبی یادگیری جمعی و شبکه‌های عمیق استخراج ویژگی

زهرا کمالی - محمدصادق هل فروش - کامران کاظمی - مژگان اکبرزاده

Dynamic Lane Changing Control of Vehicle Platoon

Abolfazl Saadati Moghadam - Mohammad Haeri

Using a Novel Connection Triangle as a Classifier to Discriminate between Different Faults in the Frequency Response Analysis

Mohammad Hamed Samimi

مدیریت انرژی یک شبکه هوشمند با ساختار هولاکراسی انرژی شامل مصرف‌کنندگان خودتولید بر اساس حق انتخاب مبتنی بر ترجیحات اقتصادی، زیست‌محیطی و اجتماعی

پیمان افضلی - مسعود رشیدی نژاد - امیر عبداللهی - محمدرضا صالحی زاده - حسین فرهمند

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.4