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RISS 인기검색어
- 검색키워드
- 저자 : Margarita Sotnikova (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Wheel Angular Velocity Stabilization using Rough Encoder Data
Margarita Sotnikova,Evgeny Veremey,Natalia Zhabko 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides’ wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it’s necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.
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Modal Parametric Optimization of Control Laws with Special Structure
Evgeny I. Veremey,Margarita V. Sotnikova,Vladimir V. Eremeev,Maxim V. Korovkin 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
The paper is devoted to particular cases of optimization problems for dynamical systems with scalar control and external disturbance. The aim is to find optimal parameters of an output feedback controller having initially given structure. An admissible set of controllers is determined by the requirement to place the poles of linear closed-loop connection inside desirable regions on the complex left-half plane. Numerical algorithm is proposed to solve the posed problem using special multi-purposes structure of the controller. To show practical applicability and effectiveness of the proposed approach and the benefits of developed methods, the illustrative example of marine autopilot design is presented.
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