Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot comparisons
- Authors
- Camacho Quintero, Oscar Eduardo
- Format
- Article
- Status
- publishedVersion
- 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.
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
- Publication Year
- 2015
- Language
- eng
- Topic
- MODELING
VALIDATION
MOBILE ROBOT
INVERTED PENDULUM
LEGO MINDSTORMS
NONLINEAR MODEL
- Repository
- Repositorio SENESCYT
- Rights
- openAccess
- License
- openAccess