scholarly journals Nonlinear Dynamics and Control of a Cube Robot

Mathematics ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1840
Author(s):  
Teh-Lu Liao ◽  
Sian-Jhe Chen ◽  
Cheng-Chang Chiu ◽  
Jun-Juh Yan
Keyword(s):  
Pid Controller ◽  
The Self ◽  
Proportional Integral Derivative ◽  
Servo Motor ◽  
External Disturbances ◽  
Braking System ◽  
Dynamics And Control ◽  
And Control ◽  
Balancing Control ◽  
Nonlinear Dynamics And Control

The paper aims to solve problems of the mathematical modeling and realization of a cube robot capable of self-bouncing and self-balancing. First, the dynamic model of the cube robot is derived by using the conservation of the angular momentum and the torque equilibrium theory. Furthermore, the controllability of the cube robot is analyzed and the angle of the cube robot is derived from the attitude and heading reference system (AHRS). Then the parallel proportional–integral–derivative (PID) controller is proposed for the balancing control of the self-designed cube robot. As for the bounce control of the cube robot, a braking system triggered by the servo motor is designed for converting the kinetic energy to the potential energy. Finally, the experimental results are included to demonstrate that the cube robot can complete the actions of self-bouncing and self-balancing with good robustness to external disturbances.

The Design of Two-Wheel Mobile Platform Using Digital DC Servo Motor Based on CompactRIO

2011 ◽  
Vol 181-182 ◽  
pp. 92-98
Author(s):  
Yuan Jiang Liao ◽  
Ming Li ◽  
Chang Kai Xu
Keyword(s):  
Flat Surface ◽  
Fuzzy Controller ◽  
Virtual Prototyping ◽  
The Self ◽  
Mobile Platform ◽  
Servo Motor ◽  
Control Software ◽  
Embedded Controller ◽  
And Control ◽  
Balancing Control

This paper describes some main design methods of the mechatronics system and control system of the self-balancing two-wheel mobile platform based on a CompactRIO embedded controller, two digital DC servo motors with two odometry encoders, etc. We use mechatronics-oriented virtual prototyping tools to design the mechatronics system using SolidWorks and LabVIEW. And we use fuzzy controller to control this mobile platform. Through several experiments of self-balancing, linear running, it was confirmed that the mobile platform could realize stable mobile motion in a flat surface environment by the fuzzy controller. Using these methods, we have designed a two-wheel mobile platform to keep itself balancing in order to carry something from someplace to another in the future. The two-wheel mobile platform has been manufactured successfully by CIMS & Robotics Center of Shanghai University. The self-balancing control software and the other software have been developed.

Nonlinear Dynamics and Control of Flexible Structures

1989 ◽  
Author(s):  
Francis C. Moon ◽  
Peter Gergely ◽  
James S. Thorp ◽  
John F. Abel
Keyword(s):  
Nonlinear Dynamics ◽  
Flexible Structures ◽  
Dynamics And Control ◽  
And Control ◽  
Nonlinear Dynamics And Control

Periodically-forced density wave oscillations in boiling flow at low forcing frequencies: Nonlinear dynamics and control issues

2016 ◽  
Vol 140 ◽  
pp. 123-133 ◽  
Author(s):  
Swapan Paruya ◽  
Nababithi Goswami ◽  
Subramaniam Pushpavanam ◽  
Dipin S. Pillai ◽  
Oinam Bidyarani
Keyword(s):  
Nonlinear Dynamics ◽  
Density Wave ◽  
Dynamics And Control ◽  
Boiling Flow ◽  
And Control ◽  
Density Wave Oscillations ◽  
Nonlinear Dynamics And Control

On Nonlinear Dynamics and Control of a Particular Portal Frame Foundation Model, Excited by a Non-Ideal Motor

2003 ◽  
Vol 440-441 ◽  
pp. 371-380 ◽  
Author(s):  
José Manoel Balthazar ◽  
Jorge Luis Palacios Felix ◽  
Reyolando Manoel Lopes Rabelo da Fonseca Brasil
Keyword(s):  
Nonlinear Dynamics ◽  
Portal Frame ◽  
Foundation Model ◽  
Dynamics And Control ◽  
And Control ◽  
Nonlinear Dynamics And Control
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