Dissertation > Excellent graduate degree dissertation topics show

Research on Intelligent Control for the Stability of a Two-wheeled Carrier in Wide-range

Author: LiWeiKe
Tutor: QuShengLi
School: Xi'an University of Electronic Science and Technology
Course: Control Theory and Control Engineering
Keywords: Two self - balanced car A wide range of stability Fuzzy linearization Adaptive Fuzzy Inference Systems
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 335
Quote: 7
Read: Download Dissertation

Abstract


Features two self-balanced car is a the special wheeled mobile robot multivariate analysis of dynamical systems , non-linear, strong coupling parameter uncertainty , its sports complex environment subject to nonholonomic constraints of kinematic equations , complex control tasks , the ideal platform complete path planning in the completion of the balance control , path tracking task, therefore , since the balance of the car is the study and research of various control methods . This study is concentrated in two research and control system design of intelligent control from the dynamics of the balance of the car . As the car the linear controller inclination of stable range is quite narrow , and can not constitute a practical controller This article focuses on the use of intelligent control of a wide range of self - balanced car , the two stable control problems . In conclusion, and learn from at home and abroad after two self - equilibrium trolley design , presented in cooperation with the students two self- balanced car build on the basis of the analysis of the dynamics and kinematics analysis of the introduction of the non-linearity of the car model. This work is concentrated in the Self-Balancing Robot nonlinear object large range of stable intelligent control research , mainly in two ways : first , fuzzy linear system modeling and design of linear controllers . The specific approach is to build multiple local linear model , fuzzy linear fuzzy weighted to obtain a new linear model , this new model to describe the the entire nonlinear systems in a wide range of characteristics , dynamically approximation model of the system in each point , and then accordingly design a linear controller to control the original nonlinear object . Second , the application of adaptive neuro - fuzzy control method ANFIS to obtain fuzzy control rules . The specific approach is to build multiple local linear models were designed linear controller , each linear model , the use of the the ANFIS tool for learning these the linear controller input and output data are fuzzy rules , which constitute the fuzzy control of the car devices . Finally , these two control methods do many simulation study , mainly concentrated in the the car controllable initial inclination range , system external disturbance and internal parameter perturbation , simulation results show a significant increase in the car can control the inclination range .

Related Dissertations

  1. Research on Control System Quality of the Two Wheeled Self-balancing Mobile,TP273
  2. Study on Performance Improvement of Variable Structure Control for Two-wheeled Self-balancing Vehicle,TP273
  3. Two self-balancing car design with a wide range of stability control,TP273
  4. Research on Gas Path Fault Diagnosis for Aero-Engine,V263.6
  5. Research on Feedback Linearization and Variable Structure Control of Two-wheeled Self-balancing Vehicle,TP273
  6. Design of Self-balancing Two-wheeled Vehicle and Research on Its Variable Structure Control,TP242
  7. Research on Adaptive Neuron-Fuzzy Control for Self-balancing Two-wheeled Vehicle,TP273
  8. The Design and Realization of a Self-balanced Two-wheel Vehicle Based on Variable Structure Control,TP242
  9. The Intellectual Control of the Auxiliary Balance Set on a Natural Unstable Two-wheel Vehicle,TP273.5
  10. The Study on the Identification and the Intellectual Control for an Unstable Two-wheeled Vehicle,TP273.5
  11. Development of Experimental Robot Control System Based on ARM,TP242.6
  12. Research on Visual Detection and Tracking of Mobile Robots,TP242.62
  13. Research of Visual Servoing in 4-DOF Robotic Manipulator,TP242.6
  14. Research on Visual Servo System of Mechanical ARM,TP242.6
  15. Modeling Analysis and Slip Estimation for Lunar Rovers,TP242
  16. Design and Realize of Family Cleaning Robot Path-Coverage System,TP242
  17. Study on Image Registration and Image Matching of the Robot System for Substation Equipment Inspection,TP242.62
  18. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  19. Humanoid Robot Soccer System Based on Global Vision System,TP242.6
  20. Research on Multi-Robot Cooperative Pursuit Problem,TP242
  21. Reaserch on Dynamics for Fast Walking of Biped Robot,TP242.6

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile