NDLI: Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot Comparisons

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Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot Comparisons

Content Provider	Semantic Scholar
Author	Garzón, Marco Antonio Herrera Hernández, William Oswaldo Chamorro Reyes, Alejandro Quintero, Oscar Eduardo Camacho
Copyright Year	2015
Abstract	Resumen: El objetivo de este articulo es desarrollar y comparar diferentes modelos de un robot tipo pendulo invertido de dos ruedas llamado NXT Lego Mindstorms. Dos modelos son desarrollados: un modelo completo no lineal y uno lineal obtenido mediante estimacion por minimos cuadrados. Las respuestas de ambos modelos son comparadas conla respuesta del robot real.El modelado de procesos es fundamental en la sintesis de controladores, ya que en su mayoriael diseno de controladores esta basado en modelos matematicos.Por lo tanto, en la medida que obtengamosmejores y mas exactos modelos mas facilmente sera derivar controladores que presenten un desempeno satisfactorio. Abstract: 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.
Starting Page	12
Ending Page	12
Page Count	1
File Format	PDF HTM / HTML
DOI	10.33333/rp.v36i1.462
Volume Number	36
Alternate Webpage(s)	https://www.revistapolitecnica.epn.edu.ec/ojs2/index.php/revista_politecnica2/article/download/462/pdf
Alternate Webpage(s)	https://doi.org/10.33333/rp.v36i1.462
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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