Author: "O. Perminova" / Publisher: university of zielona gora - Searchworks@Jio Institute Digital Library Search Results

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Author: P. Frankovský, L. Dominik, A. Gmiterko, I. Virgala, P. Kurylo, and O. Perminova
Subjects: self-balancing robot, inverted pendulum, dc gearmotor, state space model, Mechanical engineering and machinery, TJ1-1570
Abstract: This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot’s mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.
Published: 2017
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