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    請使用永久網址來引用或連結此文件: http://ir.lib.ncut.edu.tw/handle/987654321/6697


    題名: Adaptive Robust Self-Balancing and Steering of a Two-Wheeled Humman Transportation Vehicle
    作者: 林水春
    貢獻者: 電子工程(學)系
    日期: 2011-04
    上傳時間: 2017-11-23 10:40:12 (UTC+8)
    摘要: This paper presents adaptive robust regulation methods for self-balancing and yaw motion of a two-wheeled human transportation vehicle (HTV) with varying payload and system uncertainties. The proposed regulators are aimed at providing consistent driving performance for the HTV with system uncertainties and parameter variations caused by different drivers. By decomposing the overall system into the yaw motion subsystems and the wheeled inverted pendulum, two proposed adaptive robust regulators are synthesized to achieve self-balancing and yaw motion control. Numerical simulations and experimental results on different terrains show that the proposed adaptive robust controllers are capable of achieving satisfactory control actions to steer the vehicle.
    關聯: Journal of Intelligent and Robotic Systems
    顯示於類別:[電子工程系(所)] 【電子工程系所】期刊論文

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