Autors: Zhmud V., Dimitrov, L. V., Trubin V., Hubert, R.
Title: Control of Object in the Loop with Feedback Using Imperfect Sensors of Position and Acceleration
Keywords: accelerometer; automation; balancing robot; Control; control

Abstract: The paper discusses the problem of balancing robot control with negative feedback loop. The regulator (controller) can be calculated by numerical optimization. Sensors of the controlled value are imperfect. Orientation angle sensor (gyroscope) has a limited speed, as well as binary quantization noise. An acceleration sensor (accelerometer) has the average value drift and Gaussian noise. None of these sensors is sufficient to effectively stabilize the balancing of the robot, but using them both in a single control loop can achieve the required accuracy of control in static and dynamic. Method of combining the two sensors to more accurately determine the value of a single, previously developed in theory, has been tested with simulation and with realization in acting model of the robot. The results are confirmed by their practical use with good effect, which one can see on video by the reference link.

References

    Issue

    2018 14th International Scientific-Technical Conference on Actual Problems of Electronic Instrument Engineering, APEIE 2018 - Proceedings, pp. 312 - 318, 2018, Russia, ISBN ISBN 978-153867054-5

    Цитирания (Citation/s):
    1. Petrov, P., An Adaptive Pan-Tilt Camera Control for Visual Target Tracking. 29th National Conference with International Participation, TELECOM 2021 - Proceedings pp. 125-128 - 2021 - в издания, индексирани в Scopus или Web of Science
    2. Petrov, P., Kralov, I., Decentralized Kinematic Control for an Autonomous Mobile Robot in a Longitudinal Platoon, AIP Conference Proceedings 2505,120007 - 2022 - в издания, индексирани в Scopus или Web of Science

    Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus