淡江大學機構典藏:Item 987654321/81329
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 62827/95882 (66%)
造访人次 : 4030122      在线人数 : 658
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧：
  • 您可在西文检索词汇前后加上"双引号"，以获取较精准的检索结果
  • 若欲以作者姓名搜寻，建议至进阶搜寻限定作者字段，可获得较完整数据
    •  进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/81329


    题名: Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
    作者: Hsu, Chun-Fei;Liu, Chin-Yi
    贡献者: 淡江大學電機工程學系
    关键词: wheeled inverted pendulums
    日期: 2012-03-15
    上传时间: 2013-03-10 10:18:36 (UTC+8)
    摘要: A wheeled inverted pendulum (WIP) system is a
    typical unstable complex nonlinear system widely utilized for educational purposes and control research. The dynamic of a WIP system can be represented as two second-order subsystems
    which represent the angle of body and the position of wheel. This paper proposes a decoupled fuzzy sliding-mode balance control (DFSBC) system based on a time-varying sliding surface for a WIP system. A decoupled sliding surface which includes
    the information of two-subsystem is designed to make the state trajectories of both subsystems move toward their sliding surface and then simultaneously approach zeros. The control effort of a WIP system is generated based on the idea that the state can quickly reach the decoupled sliding surface without large overshoot. Moreover, the slope of the decoupled sliding surface is adjusted by a fuzzy system, whose fuzzy rules are
    constructed based on the idea that the convergence time of the state trajectories can be reduced. Finally, an 8-bit microcontroller-based WIP system is setup. Experimental results show that the proposed DFSBC system can achieve favorable balance control response for the simultaneous control of the angle of body and the position of wheel.
    關聯: Proceedings of the International MultiConference of Engineers and Computer Scientists 2012 II, pp.823-827
    显示于类别:[電機工程學系暨研究所] 會議論文

    文件中的档案:

    档案 描述 大小格式浏览次数
    IMECS2012_pp823-827.pdf646KbAdobe PDF234检视/开启

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈