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Modeling and Control of a Self-Balancing Two Wheeled Scooter
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This thesis improves techniques for system design, modeling and adaptive control of a two-wheeled self-balancing scooter for pedagogical purposes. An improved self-balancing two-wheeled scooter with only two sensors is described and its more detailed and correct mathematical model of the scooter is rigorously re-derived. Two classical PD and lead-lag control laws are proposed for self-balancing and rotation control of the scooter, then generating composite torque for the two DC motors. Such controllers also perform well for different riders and different terrains by tuning the two knobs so as to directly alter the controllers' parameters, such as the proportional and derivative gains, and the lead-lag controller's gain. Without adjusting the two tuning knobs, two adaptive regulators are presented for the scooter ridden by different riders, thereby giving almost consistent control performance. Through experimental results, the proposed improved scooter together with the proposed control methods has been successfully shown powerful and useful for different riders.
|Appears in Collections:||電機工程學系所|
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