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Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons

The aim of this paper is to develop and compare different models of a two-wheeled inverted pendulum robot calledNXT Lego Mindstorms. Two models are developed, a complete nonlinear one, and alinear one based on least squares estimation. The responses of both models are compared with the response of t...

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Autor Principal: Camacho Quintero, Oscar Eduardo
Formato: Artículos
Lenguaje:eng
Publicado: 2016
Materias:
MODELING
VALIDATION
MOBILE ROBOT
INVERTED PENDULUM
LEGO MINDSTORMS
NONLINEAR MODEL
Acceso en línea:http://repositorio.educacionsuperior.gob.ec/handle/28000/3031
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spelling oai:localhost:28000-30312017-04-17T17:52:53Z Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons Camacho Quintero, Oscar Eduardo MODELING VALIDATION MOBILE ROBOT INVERTED PENDULUM LEGO MINDSTORMS NONLINEAR MODEL The aim of this paper is to develop and compare different models of a two-wheeled inverted pendulum robot calledNXT Lego Mindstorms. Two models are developed, a complete nonlinear one, and alinear one based on least squares estimation. The responses of both models are compared with the response of the real robot. Processesmodeling is fundamental in controllers? synthesis, sincemost of the controllers design are based on mathematical models. Therefore, if better and moreaccurate mathematical modelsare obtained more easily is the controller?s synthesis for satisfactorily performance. El objetivo de este art?culo es desarrollar y comparar diferentes modelos de un robot tipo p?ndulo invertido de dos ruedas llamado NXT Lego Mindstorms. Dos modelos son desarrollados: un modelo completo no lineal y uno lineal obtenido mediante estimaci?n por m?nimos cuadrados. Las respuestas de ambos modelos son comparadas conla respuesta del robot real.El modelado de procesos es fundamental en la s?ntesis de controladores, ya que en su mayor?ael dise?o de controladores est? basado en modelos matem?ticos.Por lo tanto, en la medida que obtengamosmejores y m?s exactos modelos m?s f?cilmente ser? derivar controladores que presenten un desempe?o satisfactorio. Escuela Polit?cnica Nacional http://www.revistapolitecnica.epn.edu.ec/ojs2/index.php/revista_politecnica2/article/view/462 2016-11-09T16:56:56Z 2016-11-09T16:56:56Z 2015 article Herrera Garz?n, Marco Antonio. et al. (2015). Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons. Revista Polit?cnica. Vol.36, No.1. 2477-8990 http://repositorio.educacionsuperior.gob.ec/handle/28000/3031 eng openAccess p.7
institution SENESCYT
collection Repositorio SENESCYT
biblioteca Biblioteca Senescyt
language eng
format Artículos
topic MODELING
VALIDATION
MOBILE ROBOT
INVERTED PENDULUM
LEGO MINDSTORMS
NONLINEAR MODEL
spellingShingle MODELING
VALIDATION
MOBILE ROBOT
INVERTED PENDULUM
LEGO MINDSTORMS
NONLINEAR MODEL
Camacho Quintero, Oscar Eduardo
Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
description The aim of this paper is to develop and compare different models of a two-wheeled inverted pendulum robot calledNXT Lego Mindstorms. Two models are developed, a complete nonlinear one, and alinear one based on least squares estimation. The responses of both models are compared with the response of the real robot. Processesmodeling is fundamental in controllers? synthesis, sincemost of the controllers design are based on mathematical models. Therefore, if better and moreaccurate mathematical modelsare obtained more easily is the controller?s synthesis for satisfactorily performance.
author Camacho Quintero, Oscar Eduardo
author_facet Camacho Quintero, Oscar Eduardo
author_sort Camacho Quintero, Oscar Eduardo
title Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
title_short Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
title_full Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
title_fullStr Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
title_full_unstemmed Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
title_sort two-wheeled inverted pendulum robot nxt lego mindstorms: mathematical modelling and real robot comparisons
publishDate 2016
url http://repositorio.educacionsuperior.gob.ec/handle/28000/3031
_version_ 1634995102356078592
score 11,871979

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