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Control of self-balancing mobile robot

By Jakub Vyoral


This thesis contains derivation of mathematical model of self-balancing Segway like scooter, its proper verification and design of state space control. Model is based on Lagrange equations. Constants of state space controller are tested on linearized system. Practical realization uses design environment of Matlab Simulink with xPC Target extension for real-time control

Topics: Segway Lagrangeovy rovnice stavová regulace samobalancující Matlab xPC Target; Segway Lagrange equations state space control self-balancing Matlab xPC Target
Publisher: Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Year: 2009
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