subject:( two wheeled inverted pendulum)

University of Waikato

1. Zhou, Weiqian. Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters .

Degree: 2008, University of Waikato

► Segway has been a popular production as an alternative transporter since its invention at the end of 20th century. Millions of people like for its… (more)

Subjects/Keywords: Segway; two-wheeled inverted pendulum; H-bridge BDC driver; Back-EMF

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APA (6^th Edition):

Zhou, W. (2008). Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters . (Masters Thesis). University of Waikato. Retrieved from http://hdl.handle.net/10289/2423

Chicago Manual of Style (16^th Edition):

Zhou, Weiqian. “Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters .” 2008. Masters Thesis, University of Waikato. Accessed December 13, 2019. http://hdl.handle.net/10289/2423.

MLA Handbook (7^th Edition):

Zhou, Weiqian. “Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters .” 2008. Web. 13 Dec 2019.

Vancouver:

Zhou W. Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters . [Internet] [Masters thesis]. University of Waikato; 2008. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10289/2423.

Council of Science Editors:

Zhou W. Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters . [Masters Thesis]. University of Waikato; 2008. Available from: http://hdl.handle.net/10289/2423

2. da Silva, Airton R., Jr. Design and Control of a Two-Wheeled Robotic Walker.

Degree: 2014, University of Massachusetts

URL: https://scholarworks.umass.edu/masters_theses_2/79

► This thesis presents the design, construction, and control of a two-wheeled inverted pendulum (TWIP) robotic walker prototype for assisting mobility-impaired users with balance and… (more)

Subjects/Keywords: Two-wheeled inverted pendulum; linear quadratic regulator control; hardware architecture; circuit design; software development; prototype development; Computer-Aided Engineering and Design; Electro-Mechanical Systems

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APA (6^th Edition):

da Silva, Airton R., J. (2014). Design and Control of a Two-Wheeled Robotic Walker. (Thesis). University of Massachusetts. Retrieved from https://scholarworks.umass.edu/masters_theses_2/79

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

da Silva, Airton R., Jr. “Design and Control of a Two-Wheeled Robotic Walker.” 2014. Thesis, University of Massachusetts. Accessed December 13, 2019. https://scholarworks.umass.edu/masters_theses_2/79.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

da Silva, Airton R., Jr. “Design and Control of a Two-Wheeled Robotic Walker.” 2014. Web. 13 Dec 2019.

Vancouver:

da Silva, Airton R. J. Design and Control of a Two-Wheeled Robotic Walker. [Internet] [Thesis]. University of Massachusetts; 2014. [cited 2019 Dec 13]. Available from: https://scholarworks.umass.edu/masters_theses_2/79.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

da Silva, Airton R. J. Design and Control of a Two-Wheeled Robotic Walker. [Thesis]. University of Massachusetts; 2014. Available from: https://scholarworks.umass.edu/masters_theses_2/79

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Castro, Arnoldo. Modeling and dynamic analysis of a two-wheeled inverted-pendulum.

Degree: MS, Mechanical Engineering, 2012, Georgia Tech

URL: http://hdl.handle.net/1853/44897

► There is a need for smaller and more economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need.… (more)

Subjects/Keywords: Controls; Dynamics; Two-wheeled inverted pendulum; Inverted pendulum; Dynamic modeling; Multibody dynamics; Pendulum; Scooters Dynamics; Motor scooters Dynamics

…st✉❞✐❡❞ ✐♥♣✉ts ✇❡r❡ ❋✐❣✉r❡ ✶✳✶✿ ❈❛rt✲♣❡♥❞✉❧✉� s②st❡� s✳ 1996, Ha and Yuta Two-Wheeled… …Conditions Experiments to Stabilize for Inverted Pendulum Inverted Pendulum 1900 1950 1932… …Inverse Pendulum Type 1908, Stephenson, 1965, Bogdanoff and Citron Mobile Robot Stability… …Lowenstern, General Equations of Motion ❋✐❣✉r❡ ✶✳✷✿ 2002, Feb. Grasser JOE: A Mobile, Inverted… …Pendulum 2002, May 3 First Widely-Reported Segway Accident 2007, Morrell Publishes Paper on…

10 more images…

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APA (6^th Edition):

Castro, A. (2012). Modeling and dynamic analysis of a two-wheeled inverted-pendulum. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/44897

Chicago Manual of Style (16^th Edition):

Castro, Arnoldo. “Modeling and dynamic analysis of a two-wheeled inverted-pendulum.” 2012. Masters Thesis, Georgia Tech. Accessed December 13, 2019. http://hdl.handle.net/1853/44897.

MLA Handbook (7^th Edition):

Castro, Arnoldo. “Modeling and dynamic analysis of a two-wheeled inverted-pendulum.” 2012. Web. 13 Dec 2019.

Vancouver:

Castro A. Modeling and dynamic analysis of a two-wheeled inverted-pendulum. [Internet] [Masters thesis]. Georgia Tech; 2012. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/1853/44897.

Council of Science Editors:

Castro A. Modeling and dynamic analysis of a two-wheeled inverted-pendulum. [Masters Thesis]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/44897

Georgia Tech

4. Zafar, Munzir. Whole body control of wheeled inverted pendulum humanoids.

Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/61739

► A framework for controlling a Wheeled Inverted Pendulum (WIP) Humanoid to perform useful interactions with the environment, while dynamically balancing itself on two wheels, was… (more)

Subjects/Keywords: Whole body control; Wheeled inverted pendulum; Humanoids; Hierarchical; Optimization; Operational space; Model predictive control

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APA (6^th Edition):

Zafar, M. (2019). Whole body control of wheeled inverted pendulum humanoids. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61739

Chicago Manual of Style (16^th Edition):

Zafar, Munzir. “Whole body control of wheeled inverted pendulum humanoids.” 2019. Doctoral Dissertation, Georgia Tech. Accessed December 13, 2019. http://hdl.handle.net/1853/61739.

MLA Handbook (7^th Edition):

Zafar, Munzir. “Whole body control of wheeled inverted pendulum humanoids.” 2019. Web. 13 Dec 2019.

Vancouver:

Zafar M. Whole body control of wheeled inverted pendulum humanoids. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/1853/61739.

Council of Science Editors:

Zafar M. Whole body control of wheeled inverted pendulum humanoids. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61739

5. Murdock, Daniel. Modeling, identification and control of a wheeled balancing system.

Degree: PhD, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/56275

► The purpose of this research is to develop a comprehensive modeling, identification, and control methodology for several inverted balancing systems. Symbolic software tools are created… (more)

Subjects/Keywords: Reaction wheel pendulum; Wheeled inverted pendulum

…wheel pendulum (RWP) and a wheeled inverted pendulum (WIP). . . . . . 2… …pendulum (RWP), wheeled inverted pendulum (WIP), and wheeled balancing system… …a combination of a reaction wheel pendulum (RWP) and a wheeled inverted pendulum… …x29; and a wheeled inverted pendulum (WIP). acquire data, perform sensor… …m3 and Iwx = I2x = I3x . 3.4 Wheeled Inverted Pendulum (WIP) The WIP is an…

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APA (6^th Edition):

Murdock, D. (2016). Modeling, identification and control of a wheeled balancing system. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56275

Chicago Manual of Style (16^th Edition):

Murdock, Daniel. “Modeling, identification and control of a wheeled balancing system.” 2016. Doctoral Dissertation, Georgia Tech. Accessed December 13, 2019. http://hdl.handle.net/1853/56275.

MLA Handbook (7^th Edition):

Murdock, Daniel. “Modeling, identification and control of a wheeled balancing system.” 2016. Web. 13 Dec 2019.

Vancouver:

Murdock D. Modeling, identification and control of a wheeled balancing system. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/1853/56275.

Council of Science Editors:

Murdock D. Modeling, identification and control of a wheeled balancing system. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56275

California State University – Chico

6. Hamar, Trisha. Comparison of Control Algorithms for an Inverted Pendulum .

Degree: 2010, California State University – Chico

URL: http://hdl.handle.net/10211.4/166

► ABSTRACT COMPARISON OF CONTROL ALGORITHMS FOR AN INVERTED PENDULUM by ?? Trisha Annie Hamar 2009 Master of Science in Electrical and Computer Engineering Electronic Engineering… (more)

Subjects/Keywords: Inverted Pendulum

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APA (6^th Edition):

Hamar, T. (2010). Comparison of Control Algorithms for an Inverted Pendulum . (Thesis). California State University – Chico. Retrieved from http://hdl.handle.net/10211.4/166

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Hamar, Trisha. “Comparison of Control Algorithms for an Inverted Pendulum .” 2010. Thesis, California State University – Chico. Accessed December 13, 2019. http://hdl.handle.net/10211.4/166.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Hamar, Trisha. “Comparison of Control Algorithms for an Inverted Pendulum .” 2010. Web. 13 Dec 2019.

Vancouver:

Hamar T. Comparison of Control Algorithms for an Inverted Pendulum . [Internet] [Thesis]. California State University – Chico; 2010. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10211.4/166.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Hamar T. Comparison of Control Algorithms for an Inverted Pendulum . [Thesis]. California State University – Chico; 2010. Available from: http://hdl.handle.net/10211.4/166

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

7. Vejlupek, Josef. Řízení pohybu dvoukolového robotu .

Degree: 2008, Brno University of Technology

URL: http://hdl.handle.net/11012/3798

► Tato práce se zabývá návrhem a simulačním ověřením možností pro řízení pohybu dvoukolého balancujícího robotu. Obsahem práce je rovněž rešeršní studie zaměřená na již existující… (more)

Subjects/Keywords: mobilní robot; inverzní kyvadlo; stavové řízení; dvoukolý robot; Mobile robot; inverted pendulum; state control; two-wheeled robot

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APA (6^th Edition):

Vejlupek, J. (2008). Řízení pohybu dvoukolového robotu . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/3798

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Vejlupek, Josef. “Řízení pohybu dvoukolového robotu .” 2008. Thesis, Brno University of Technology. Accessed December 13, 2019. http://hdl.handle.net/11012/3798.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Vejlupek, Josef. “Řízení pohybu dvoukolového robotu .” 2008. Web. 13 Dec 2019.

Vancouver:

Vejlupek J. Řízení pohybu dvoukolového robotu . [Internet] [Thesis]. Brno University of Technology; 2008. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/11012/3798.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Vejlupek J. Řízení pohybu dvoukolového robotu . [Thesis]. Brno University of Technology; 2008. Available from: http://hdl.handle.net/11012/3798

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Missouri University of Science and Technology

8. Stumfoll, Jason Michael. Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties.

Degree: M.S. in Aerospace Engineering, Aerospace Engineering, Missouri University of Science and Technology

URL: https://scholarsmine.mst.edu/masters_theses/7861

► "An observer is a dynamic system that estimates the state variables of another system using noisy measurements, either to estimate unmeasurable states, or to… (more)

▼ "An observer is a dynamic system that estimates the state variables of another system using noisy measurements, either to estimate unmeasurable states, or to improve the accuracy of the state measurements. The Modified State Observer (MSO) is a technique that uses a standard observer structure modified to include a neural network to estimate system states as well as system uncertainty. It has been used in orbit uncertainty estimation and atmospheric reentry uncertainty estimation problems to correctly estimate unmodeled system dynamics. A form of the MSO has been used to control a nonlinear electrohydraulic system with parameter uncertainty using a simplified linear model. In this paper an extension of the MSO into discrete-time is developed using Lyapunov stability theory. Discrete-time systems are found in all digital hardware implementations, such as that found in a Martian rover, a quadcopter UAV, or digital flight control systems, and have the added benefit of reduced computation time compared to continuous systems. The derived adaptive update law guarantees stability of the error dynamics and boundedness of the neural network weights. To prove the validity of the discrete-time MSO (DMSO) simulation studies are performed using a two wheeled inverted pendulum (TWIP) robot, an unstable nonlinear system with unmatched uncertainties. Using a linear model with parameter uncertainties, the DMSO is shown to correctly estimate the state of the system as well as the system uncertainty, providing state estimates orders of magnitude more accurate, and in periods of time up to 10 times faster than the Discrete Kalman Filter. The DMSO is implemented on an actual TWIP robot to further validate the performance and demonstrate the applicability to discrete-time systems found in many aerospace applications. Additionally, a new form of neural network control is developed to compensate for the unmatched uncertainties that exist in the TWIP system using a state variable as a virtual control input. It is shown that in all cases the neural network based control assists with the controller effectiveness, resulting in the most effective controller, performing on average 53.1% better than LQR control alone" – Abstract, page iii.

Subjects/Keywords: Control; Discrete time; Estimation; Neural networks; Two wheeled inverted pendulum; Unmatched uncertainty; Aerospace Engineering

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APA (6^th Edition):

Stumfoll, J. M. (n.d.). Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties. (Masters Thesis). Missouri University of Science and Technology. Retrieved from https://scholarsmine.mst.edu/masters_theses/7861

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Chicago Manual of Style (16^th Edition):

Stumfoll, Jason Michael. “Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties.” Masters Thesis, Missouri University of Science and Technology. Accessed December 13, 2019. https://scholarsmine.mst.edu/masters_theses/7861.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

MLA Handbook (7^th Edition):

Stumfoll, Jason Michael. “Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties.” Web. 13 Dec 2019.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

Stumfoll JM. Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties. [Internet] [Masters thesis]. Missouri University of Science and Technology; [cited 2019 Dec 13]. Available from: https://scholarsmine.mst.edu/masters_theses/7861.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Council of Science Editors:

Stumfoll JM. Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties. [Masters Thesis]. Missouri University of Science and Technology; Available from: https://scholarsmine.mst.edu/masters_theses/7861

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Brno University of Technology

9. Kalina, Michal. Řídicí systém mobilního robotu .

Degree: 2015, Brno University of Technology

URL: http://hdl.handle.net/11012/39169

► Tato práce se zabývá stavbou dvoukolého mobilního robota a následnou tvorbou ovladačů a řízení pro jeho senzory, motory a návrh regulátoru. Řízení funguje na platformě… (more)

Subjects/Keywords: mobilní dvoukolý robot; Arduino; ARM; ATmega328; BLDC motor; gyroskop; akcelerometr; inverzní kyvadlo; I2C sběrnice; Martinez V3; regulátor; modelování; simulace; Matlab; Simulink; MPU 6050; Li-Pol akumulátor; Mobile two-wheeled robot; Arduino; ARM; ATmega328; BLDC motor; gyroscope; accelerometer; inverted pendulum; I2C bus; Martinez V3; controller; modelling; simulation; Matlab; Simulink; MPU 6050; Li-Pol accumulator

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kalina, M. (2015). Řídicí systém mobilního robotu . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/39169

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Kalina, Michal. “Řídicí systém mobilního robotu .” 2015. Thesis, Brno University of Technology. Accessed December 13, 2019. http://hdl.handle.net/11012/39169.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Kalina, Michal. “Řídicí systém mobilního robotu .” 2015. Web. 13 Dec 2019.

Vancouver:

Kalina M. Řídicí systém mobilního robotu . [Internet] [Thesis]. Brno University of Technology; 2015. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/11012/39169.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Kalina M. Řídicí systém mobilního robotu . [Thesis]. Brno University of Technology; 2015. Available from: http://hdl.handle.net/11012/39169

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

KTH

10. Moritz, Johan. Stuck state avoidance through PID estimation training of Q-learning agent.

Degree: Electrical Engineering and Computer Science (EECS), 2019, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264562

►

Reinforcement learning is conceptually based on an agent learning through interaction with its environment. This trial-and-error learning method makes the process prone to situations… (more)

Subjects/Keywords: Q-learning; QL; PID; wheeled inverted pendulum; WIP; reinforcement learning; estimation training; Q-learning; QL; PID; självbalanserande robot; reinforcement learning; estimeringsträning; Computer and Information Sciences; Data- och informationsvetenskap

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APA (6^th Edition):

Moritz, J. (2019). Stuck state avoidance through PID estimation training of Q-learning agent. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264562

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Moritz, Johan. “Stuck state avoidance through PID estimation training of Q-learning agent.” 2019. Thesis, KTH. Accessed December 13, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264562.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Moritz, Johan. “Stuck state avoidance through PID estimation training of Q-learning agent.” 2019. Web. 13 Dec 2019.

Vancouver:

Moritz J. Stuck state avoidance through PID estimation training of Q-learning agent. [Internet] [Thesis]. KTH; 2019. [cited 2019 Dec 13]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264562.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Moritz J. Stuck state avoidance through PID estimation training of Q-learning agent. [Thesis]. KTH; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264562

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

11. Abreu, Victor Vicente. Balance-bot.

Degree: 2009, Universidade da Madeira

URL: http://www.rcaap.pt/detail.jsp?id=oai:digituma.uma.pt:10400.13/59

►

Research on inverted pendulum has gained momentum over the last decade on a number of robotic laboratories over the world; due to its unstable proprieties… (more)

Subjects/Keywords: Two-wheel inverted pendulum; Arduino; Accelerometer; Gyroscope; kalman filter; PID; Teleoperation; .; Centro de Ciências Exatas e da Engenharia

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APA (6^th Edition):

Abreu, V. V. (2009). Balance-bot. (Thesis). Universidade da Madeira. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:digituma.uma.pt:10400.13/59

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Abreu, Victor Vicente. “Balance-bot.” 2009. Thesis, Universidade da Madeira. Accessed December 13, 2019. http://www.rcaap.pt/detail.jsp?id=oai:digituma.uma.pt:10400.13/59.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Abreu, Victor Vicente. “Balance-bot.” 2009. Web. 13 Dec 2019.

Vancouver:

Abreu VV. Balance-bot. [Internet] [Thesis]. Universidade da Madeira; 2009. [cited 2019 Dec 13]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:digituma.uma.pt:10400.13/59.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Abreu VV. Balance-bot. [Thesis]. Universidade da Madeira; 2009. Available from: http://www.rcaap.pt/detail.jsp?id=oai:digituma.uma.pt:10400.13/59

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

California State University – Sacramento

12. Kumar, Raushan. Implementation of self balancing robot.

Degree: MS, Electrical and Electronic Engineering, 2019, California State University – Sacramento

URL: http://hdl.handle.net/10211.3/207707

► Robotics is a topic of curiosity among students and technology enthusiasts around the world. In recent times with the introduction of more complicated systems and… (more)

Subjects/Keywords: Two-wheeled balance robot; Self-balancing robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kumar, R. (2019). Implementation of self balancing robot. (Masters Thesis). California State University – Sacramento. Retrieved from http://hdl.handle.net/10211.3/207707

Chicago Manual of Style (16^th Edition):

Kumar, Raushan. “Implementation of self balancing robot.” 2019. Masters Thesis, California State University – Sacramento. Accessed December 13, 2019. http://hdl.handle.net/10211.3/207707.

MLA Handbook (7^th Edition):

Kumar, Raushan. “Implementation of self balancing robot.” 2019. Web. 13 Dec 2019.

Vancouver:

Kumar R. Implementation of self balancing robot. [Internet] [Masters thesis]. California State University – Sacramento; 2019. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10211.3/207707.

Council of Science Editors:

Kumar R. Implementation of self balancing robot. [Masters Thesis]. California State University – Sacramento; 2019. Available from: http://hdl.handle.net/10211.3/207707

University of Southern California

13. Chen, Cheng-Yuan Jerry. Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation.

Degree: PhD, Aerospace & Mechanical Engineering (Dynamics & Control), 2009, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/238695/rec/4268

► A pendulum is statically unstable in its upright inverted state due to the Earth's gravitional attraction which points downward. However, with proper forcing, the pendulum… (more)

▼ A pendulum is statically unstable in its upright inverted state due to the Earth's gravitional attraction which points downward. However, with proper forcing, the pendulum can be stabilized in its upright inverted state. Special interest is on periodic vertical forcing applied to the pendulum's base to stabilize it around the upright inverted equilibrium. Many researchers have studied how to stabilize the system by varying various parameters, in particular its amplitude and frequency. Most have focused on the single degree of freedom inverted pendulum case, which with linear assumption can be described via Mathieu's equation. The system stability can then be characterized by Floquet theory. Our focus is on searching for the periodic solutions inside the linearly stable region of the pendulum's inverted state when the pendulum is under proper periodic forcing. Our research shows that under appropriate excitation by controlling the forcing amplitude and frequency, the pendulum can maintain certain periodic orbits around its inverted state which we characterize in a systematic way.; In this thesis, we applied four different kinds of geometric realizations of the system response: system time traces, system phase portraits, three dimensional views of the system phase portrait as a function of input forcing, and the system's power spectral density diagram. By analyzing these four diagrams simultaneously, we characterize different kinds of multi-frequency periodic behavior around the pendulum's inverted state. To further discuss the effect of the nonlinearity, we applied perturbation techniques using the normalized forcing amplitude as a perturbation parameter to carry out the approximate periodic solutions on a single degree of freedom inverted pendulum nonlinear model.; We also discuss the multiple degree of freedom inverted pendulum system. Both numerical simulation and experiments were performed and detailed comparisons are discussed. Our numerical simulations show close qualitative agreement with experiments. Advisors/Committee Members: Newton, Paul K. (Committee Chair), Redekopp, Larry G. (Committee Member), Flashner, Henryk (Committee Member), Jonckheere, Edmond A. (Committee Member).

Subjects/Keywords: inverted pendulum; nonlinear dynamics; parametric excitation; Mathieu'; s equation; Floquet theory

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APA (6^th Edition):

Chen, C. J. (2009). Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/238695/rec/4268

Chicago Manual of Style (16^th Edition):

Chen, Cheng-Yuan Jerry. “Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation.” 2009. Doctoral Dissertation, University of Southern California. Accessed December 13, 2019. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/238695/rec/4268.

MLA Handbook (7^th Edition):

Chen, Cheng-Yuan Jerry. “Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation.” 2009. Web. 13 Dec 2019.

Vancouver:

Chen CJ. Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation. [Internet] [Doctoral dissertation]. University of Southern California; 2009. [cited 2019 Dec 13]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/238695/rec/4268.

Council of Science Editors:

Chen CJ. Multiple degree of freedom inverted pendulum dynamics: modeling, computation, and experimentation. [Doctoral Dissertation]. University of Southern California; 2009. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/238695/rec/4268

University of Ottawa

14. Robillard, Dominic. Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots .

Degree: 2014, University of Ottawa

URL: http://hdl.handle.net/10393/31840

► Self-balancing robots are unique mobile platforms that stay upright on two wheels using a closed-loop control system. They can turn on the spot using differential… (more)

Subjects/Keywords: Robot; Stair-Climbing; Balancing; Inverted Pendulum; Gyroscope; LQR

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APA (6^th Edition):

Robillard, D. (2014). Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots . (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/31840

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Robillard, Dominic. “Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots .” 2014. Thesis, University of Ottawa. Accessed December 13, 2019. http://hdl.handle.net/10393/31840.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Robillard, Dominic. “Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots .” 2014. Web. 13 Dec 2019.

Vancouver:

Robillard D. Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots . [Internet] [Thesis]. University of Ottawa; 2014. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10393/31840.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Robillard D. Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots . [Thesis]. University of Ottawa; 2014. Available from: http://hdl.handle.net/10393/31840

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Notre Dame

15. Michael W Kennedy. Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>.

Degree: PhD, Aerospace and Mechanical Engineering, 2014, University of Notre Dame

URL: https://curate.nd.edu/show/h415p843g46

► Balance retraining is a critical part of rehabilitation for many individuals following neurotrauma such as stroke. This work focuses on implementation of visual feedback… (more)

▼ Balance retraining is a critical part of rehabilitation for many individuals following neurotrauma such as stroke. This work focuses on implementation of visual feedback in balance therapy with the ultimate goal of improving the efficacy of clinical balance rehabilitation. Using the custom-built WeHab balance rehabilitation software tool, this work examines strategies for implementing visual feedback, as well as interpretation of balance information based on mediolateral weight shifting. By focusing on the Nintendo? Wii Balance Board gaming peripheral, which is inexpensive and widely available, this work has the potential to enable visual feedback for balance therapy in both clinical and home settings. One-hundred twenty-two young, healthy subjects between the ages of 17 and 22 participated in two studies of visual feedback design strategy. The first study examined the effects of feedback arrangement (direct center of pressure vs. mediolateral weight distribution), numeric feedback, and dimensionality, while the second study investigated implementation of feedback based on smoothed and filtered center of pressure information. Together, these studies demonstrated that feedback design has a significant impact on subject performance in both quiet standing and mediolateral weight-shifting balance tasks. Using mediolateral weight-shifting data from the young, healthy subjects in the first study, balance control parameters were obtained by matching experimental balance performance to simulated results using an inverted pendulum model. The close matching obtained across all subjects indicated the usefulness of this novel application of the simple model in examining mediolateral weight shifting. Additionally, this modeling study incorporated a novel non-minimum phase behavior metric in classifying subject weight-shifting performance. In addition to its use in a research setting, the WeHab system has been deployed to five local balance therapy facilities. Preliminary examination of the data from clinical sessions indicates that instrumentation of clinical balance therapy could provide a method for quicker balance assessment and quantitative insight into patient balance performance. Additionally, comparison of clinical data with data from the young, healthy subjects and 13 age-matched subjects demonstrates differences between the subject populations that should be explored further in future work. Advisors/Committee Members: Aaron D. Striegel, Committee Member, James P. Schmiedeler, Committee Chair, Michael Stanisic, Committee Member, Glen Niebur, Committee Member.

Subjects/Keywords: balance rehabilitation; inverted pendulum model; standing balance; visual feedback

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APA (6^th Edition):

Kennedy, M. W. (2014). Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>. (Doctoral Dissertation). University of Notre Dame. Retrieved from https://curate.nd.edu/show/h415p843g46

Chicago Manual of Style (16^th Edition):

Kennedy, Michael W. “Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>.” 2014. Doctoral Dissertation, University of Notre Dame. Accessed December 13, 2019. https://curate.nd.edu/show/h415p843g46.

MLA Handbook (7^th Edition):

Kennedy, Michael W. “Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>.” 2014. Web. 13 Dec 2019.

Vancouver:

Kennedy MW. Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>. [Internet] [Doctoral dissertation]. University of Notre Dame; 2014. [cited 2019 Dec 13]. Available from: https://curate.nd.edu/show/h415p843g46.

Council of Science Editors:

Kennedy MW. Visual Feedback in Balance Rehabilitation using Inexpensive Gaming Peripherals</h1>. [Doctoral Dissertation]. University of Notre Dame; 2014. Available from: https://curate.nd.edu/show/h415p843g46

Brno University of Technology

16. Kalla, Libor. Inverzní kyvadlo .

Degree: 2010, Brno University of Technology

URL: http://hdl.handle.net/11012/16423

► Tato práce se zabývá rovinnou úlohou balancování inverzního kyvadla, jehož reálný model je umístěn v laboratoři A1/731a. Cílem práce je v prostředí Matlab Simulink sestavit… (more)

Subjects/Keywords: inverzní kyvadlo; PLC; simulace; inverted pendulum; PLC; simulace

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APA (6^th Edition):

Kalla, L. (2010). Inverzní kyvadlo . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/16423

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Kalla, Libor. “Inverzní kyvadlo .” 2010. Thesis, Brno University of Technology. Accessed December 13, 2019. http://hdl.handle.net/11012/16423.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Kalla, Libor. “Inverzní kyvadlo .” 2010. Web. 13 Dec 2019.

Vancouver:

Kalla L. Inverzní kyvadlo . [Internet] [Thesis]. Brno University of Technology; 2010. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/11012/16423.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Kalla L. Inverzní kyvadlo . [Thesis]. Brno University of Technology; 2010. Available from: http://hdl.handle.net/11012/16423

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

17. Xu, Jifei. Biped walking trajectory design and stabilization.

Degree: MS, Electrical & Computer Engr, 2017, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/97734

► Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion of the… (more)

Subjects/Keywords: Biped; Trajectory generation; Zero-moment point; Linear inverted pendulum model

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APA (6^th Edition):

Xu, J. (2017). Biped walking trajectory design and stabilization. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/97734

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Xu, Jifei. “Biped walking trajectory design and stabilization.” 2017. Thesis, University of Illinois – Urbana-Champaign. Accessed December 13, 2019. http://hdl.handle.net/2142/97734.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Xu, Jifei. “Biped walking trajectory design and stabilization.” 2017. Web. 13 Dec 2019.

Vancouver:

Xu J. Biped walking trajectory design and stabilization. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2017. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/2142/97734.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Xu J. Biped walking trajectory design and stabilization. [Thesis]. University of Illinois – Urbana-Champaign; 2017. Available from: http://hdl.handle.net/2142/97734

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Northeastern University

18. Clark, William. Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control.

Degree: MS, Department of Mechanical and Industrial Engineering, 2019, Northeastern University

URL: http://hdl.handle.net/2047/D20317910

► In recent years, self-balancing transportation systems for personal use have gained increased popularity, the most popular of which being the "Hoverboard" type system. These systems… (more)

▼ In recent years, self-balancing transportation systems for personal use have gained increased popularity, the most popular of which being the "Hoverboard" type system. These systems function as inverted pendulum systems, with the operator acting as the pendulum, rotating a platform which incites lateral motion of a cart to maintain stability. This sort of system can be modeled as an inverted pendulum on a cart, but with the rigid pendulum replaced by a flexible cantilever beam. This allows for the vibrational characteristics to be accounted for and controlled. In this thesis, a Model Predictive Controller (MPC) is developed to control both the stability of the flexible beam and to minimize the magnitude of the vibrations at the tip of the beam. Several theoretical MPCs are developed for multiple models of increasing complexity that represent the system simplified to different degrees; the first model is a linearized, lumped-parameter inverted pendulum on a cart, the second is a nonlinear, lumped parameter inverted-pendulum on a cart, and the third is a continuous flexible cantilever beam on a cart. Multiple models were used in order to determine the minimum amount of modelled complexity necessary to develop a controller that can adequately control the most complex system (the flexible cantilever beam). The three controllers developed are each used in simulations with the three different models, to determine the least complex controller that can maintain the stability of the most complex model. It was found that only the controller developed specifically for the flexible beam model was able to maintain the stability, keeping the angle of the base of the beam <2.5×10-3rad, and the deflection in the tip of the beam <0.01m. This result is not particularly surprising, as MPCs lack robustness when dealing with model uncertainty or mismatch. This presentation concludes by discussing possible next steps for future work, including reduction of the computational load of the controller, and a design for initial experimental tests of the system.

Subjects/Keywords: Cantilever Beam; Inverted Pendulum; Model Predictive Control; Optimal Control; Mechanical engineering

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APA (6^th Edition):

Clark, W. (2019). Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control. (Masters Thesis). Northeastern University. Retrieved from http://hdl.handle.net/2047/D20317910

Chicago Manual of Style (16^th Edition):

Clark, William. “Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control.” 2019. Masters Thesis, Northeastern University. Accessed December 13, 2019. http://hdl.handle.net/2047/D20317910.

MLA Handbook (7^th Edition):

Clark, William. “Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control.” 2019. Web. 13 Dec 2019.

Vancouver:

Clark W. Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control. [Internet] [Masters thesis]. Northeastern University; 2019. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/2047/D20317910.

Council of Science Editors:

Clark W. Control Of A Beam-hoverboard Self-transportation System With Model Predictive Control. [Masters Thesis]. Northeastern University; 2019. Available from: http://hdl.handle.net/2047/D20317910

University of Colorado

19. Bailey, Robert Alan. Trajectory Exploration and Maneuver Regulation of the Pendubot.

Degree: PhD, Electrical, Computer & Energy Engineering, 2012, University of Colorado

URL: https://scholar.colorado.edu/ecen_gradetds/40

► The pendulum provides a seemingly inexhaustible source of practical applications and interesting problems which have motivated research in a variety of disciplines. In this… (more)

▼ The pendulum provides a seemingly inexhaustible source of practical applications and interesting problems which have motivated research in a variety of disciplines. In this thesis, we study equations that described a driven pendulum with odd-periodic driving. The equations also describe the under-actuated, double pendulum system called the pendubot. Techniques for trajectory exploration are developed. For the inverted pendulum, we first wrote the problem as a two point boundary value problem with Dirichlet boundary conditions. Then, we develop an equivalent linear operator that combines a Nemitski operator (or superposition operator) with the linear operator for the unstable harmonic oscillator. By exploring the properties of the Green’s function for the unstable harmonic oscillator with Dirichlet boundary conditions, we developed bounds on various norms that prove useful for determining which parameter values will satisfy invariance and contraction conditions. With a direct application of the Schauder fixed point theorem, we showed that our family of equations representing an inverted pendulum always possessed an odd-periodic solution. Using the Banach fixed point theorem we showed that there is a unique solution within an invariant region of the space of possible solution curves. When there is a unique solution, successive approximations can be used to compute the solution trajectory. To illustrate the power and application of these ideas, we apply them to a pendubot with the inner arm moving at a constant velocity. For non-inverted trajectories of the pendubot, we presented a necessary condition for trajectories to exist with general periodic forcing. For odd-periodic periodic driving functions this condition is always satisfied. For a driving function of A sin(wt), we found multiple solutions for the outer link. With the trajectories in hand, we demonstrated through simulation and/or physical implementation, the usefulness of maneuver regulation for providing orbital stabilization. Advisors/Committee Members: John Hauser, Youjian (Eugene) Liu, Jason Marden.

Subjects/Keywords: Control Theory; Differential Equations; Inverted Pendulum; Maneuver Regulation; Pendubot; Pendulum; Controls and Control Theory; Electrical and Computer Engineering

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APA (6^th Edition):

Bailey, R. A. (2012). Trajectory Exploration and Maneuver Regulation of the Pendubot. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/ecen_gradetds/40

Chicago Manual of Style (16^th Edition):

Bailey, Robert Alan. “Trajectory Exploration and Maneuver Regulation of the Pendubot.” 2012. Doctoral Dissertation, University of Colorado. Accessed December 13, 2019. https://scholar.colorado.edu/ecen_gradetds/40.

MLA Handbook (7^th Edition):

Bailey, Robert Alan. “Trajectory Exploration and Maneuver Regulation of the Pendubot.” 2012. Web. 13 Dec 2019.

Vancouver:

Bailey RA. Trajectory Exploration and Maneuver Regulation of the Pendubot. [Internet] [Doctoral dissertation]. University of Colorado; 2012. [cited 2019 Dec 13]. Available from: https://scholar.colorado.edu/ecen_gradetds/40.

Council of Science Editors:

Bailey RA. Trajectory Exploration and Maneuver Regulation of the Pendubot. [Doctoral Dissertation]. University of Colorado; 2012. Available from: https://scholar.colorado.edu/ecen_gradetds/40

University of Notre Dame

20. Shi-Hsin Lin. Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>.

Degree: PhD, Physics, 2012, University of Notre Dame

URL: https://curate.nd.edu/show/9306sx63f8z

► Superconductors, diluted magnetic semiconductors, and ferromagnets have dramatically different properties, particularly in the way they respond to an external magnetic field. By using modern… (more)

▼ Superconductors, diluted magnetic semiconductors, and ferromagnets have dramatically different properties, particularly in the way they respond to an external magnetic field. By using modern molecular beam epitaxy or lithography techniques, hybrid materials with above mentioned constituents can be fabricated. These composite materials show novel, emergent properties which do not exist in any of the homogeneous, single-phase components. In this thesis I investigated diluted magnetic semiconductor/superconductor hybrids, as well as ferromagnet/superconductor hybrid systems. Besides hybrid samples, single-phase material with mesoscopic size can also harbor novel states that are vastly different from bulk states. In contrast to the hybrid materials, where the proximity of the other phase provides confinement, in mesoscopic superconducting samples, the geometric confinement plays the role of the ingredient that causes emergent behavior. Motivated by the similarity between hybrid and mesoscopic systems, in this thesis I study mesoscopic superconductors as well. We discovered that mesoscale superconductivity can host not only regular vortex matter, built up by singly quantized vortices, but also exotic phases containing giant vortices with vorticity greater than one. Such exotic phases cannot be found in bulk superconductors. I studied the diluted magnetic semiconductor/superconductor hybrid system that can host and allow for the manipulation of spin-polarized bound states. In particular, I investigated the effects of impurities on such spin-polarized states. My results have important experimental implications as they predict robust spin textures even for less than ideal samples. I will also present a study of a ferromagnet/superconductor hybrid system. It turns out, that one can tailor how a nearby ferromagnet suppresses the superconductivity, by changing the sample geometry and the external magnetic field. These parameters allow us to “design’ the superconducting order parameter landscape with an unprecedented control. In particular, I investigated a superconductor film with a nanometer-sized ferromagnetic disc on top of it. The ferromagnetic disc creates a sombrero-shaped superconducting order parameter landscape. I show that in this geometry the Andreev bound states are trapped in a ring. Furthermore, I show that the quantum mechanical problem of Andreev bound states in such a potential can be mapped onto a the well-known problem of a quantum rotor. If a transport current is applied, the quantum rotor is exposed to an effective gravity and becomes a quantum pendulum. For pulsed current, the problem can be mapped onto a kicked rotor. I also show that the pendulum can also be driven with an external AC magnetic field, and that a quantum inverted pendulum can be stabilized. For the mesoscopic superconductor, I investigate how the density of states evolution for a multi-to-giant-vortex transition. Accordingly, I propose that the transition can be detected using high precision calorimetry and… Advisors/Committee Members: Bruce Bunker, Committee Member, Antonio Delgado, Committee Member, Boldizsar Janko, Committee Member, Zoltan Toroczkai, Committee Member, Milorad Milosevic , Committee Member.

Subjects/Keywords: diluted magnetic semiconductor; quantum inverted pendulum; spintronics; heterostructure; Andreev bound state; quantum pendulum; nanotechnology; hybrid material; mesoscopic superconductor; superconductor; quantum rotor

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APA (6^th Edition):

Lin, S. (2012). Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>. (Doctoral Dissertation). University of Notre Dame. Retrieved from https://curate.nd.edu/show/9306sx63f8z

Chicago Manual of Style (16^th Edition):

Lin, Shi-Hsin. “Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>.” 2012. Doctoral Dissertation, University of Notre Dame. Accessed December 13, 2019. https://curate.nd.edu/show/9306sx63f8z.

MLA Handbook (7^th Edition):

Lin, Shi-Hsin. “Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>.” 2012. Web. 13 Dec 2019.

Vancouver:

Lin S. Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>. [Internet] [Doctoral dissertation]. University of Notre Dame; 2012. [cited 2019 Dec 13]. Available from: https://curate.nd.edu/show/9306sx63f8z.

Council of Science Editors:

Lin S. Novel Bound States and Their Manipulations in Superconductor/Diluted Magnetic Semiconductor Hybrids and Mesoscopic Superconductors</h1>. [Doctoral Dissertation]. University of Notre Dame; 2012. Available from: https://curate.nd.edu/show/9306sx63f8z

Brno University of Technology

21. Adámek, Roman. Realizace inverzního kyvadla jako expozice do vitríny .

Degree: 2017, Brno University of Technology

URL: http://hdl.handle.net/11012/65901

► V úvodu této práce je představeno několik typů inverzních kyvadel s jejich popisem a příklady praktické aplikace. Následující část se zaměřuje na popis mechanické konstrukce,… (more)

Subjects/Keywords: lineární inverzní kyvadlo; inverzní kyvadlo; Raspberry Pi; dsPIC; grafické uživatelské rozhraní; linear inverted pendulum; inverted pendulum; Raspberry Pi; dsPIC; graphical user interface

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APA (6^th Edition):

Adámek, R. (2017). Realizace inverzního kyvadla jako expozice do vitríny . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/65901

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Adámek, Roman. “Realizace inverzního kyvadla jako expozice do vitríny .” 2017. Thesis, Brno University of Technology. Accessed December 13, 2019. http://hdl.handle.net/11012/65901.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Adámek, Roman. “Realizace inverzního kyvadla jako expozice do vitríny .” 2017. Web. 13 Dec 2019.

Vancouver:

Adámek R. Realizace inverzního kyvadla jako expozice do vitríny . [Internet] [Thesis]. Brno University of Technology; 2017. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/11012/65901.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Adámek R. Realizace inverzního kyvadla jako expozice do vitríny . [Thesis]. Brno University of Technology; 2017. Available from: http://hdl.handle.net/11012/65901

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Purdue University

22. Potwar, Karna P. Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane.

Degree: MSME, Mechanical Engineering, 2013, Purdue University

URL: http://docs.lib.purdue.edu/open_access_theses/120

► Walking or running while carrying loads has always been a tedious task, more so when the loads are heavy. Such a task of carrying… (more)

▼ Walking or running while carrying loads has always been a tedious task, more so when the loads are heavy. Such a task of carrying loads not only requires extra effort but also leads to physical pain and in some cases injury. Prior studies on human locomotion with a suspended load have used models that are restricted in their DOFs and so are not able to take into account the fore aft movement in human beings. The objective of this thesis is to model the dynamics of sagittal plane center-of-mass locomotion with a suspended load and apply findings to carrying loads with an elastic pole. The approach taken was to develop and analyze a variant of the Hip Actuated Spring-Loaded Inverted Pendulum (SLIP) model of locomotion that has a second sprung mass added to represent a suspended load. This model showed a large increment in human running speed and stride frequency as the suspension stiffness was increased. A stability analysis on the model showed branching among fixed points with one branch nearly stable while the other branch has greater stability. This particular model was able to show a reduction in peak forces and amplitude of the load for very compliant suspensions. In order to limit velocity change that occurs with changing suspension stiffness, a variable torque model was developed. This model was able to limit the velocity magnitude and stride frequency near target values. It also showed reduction in peak shoulder forces and has better stability. One direct application of this work is to inform and potentially influence better practices involving the ancient human behavior of carrying heavy loads with bamboo poles, which remains common in some regions of Asia. The dynamic aspects of the hip actuated SLIP were synthesized with those of the beam bending model to design a compliant pole. Optimizing the design parameters of bamboo helped us to obtain a region which provided suitable reduction in peak shoulder forces within the safety limits of avoiding fracture. Advisors/Committee Members: Justin E. Seipel, Justin E. Seipel, John M. Starkey, Charles M. Krousgrill.

Subjects/Keywords: biomechanics; dynamics; locomotion; sagittal; suspension; hip actuated spring loaded inverted pendulum; Biomechanics; Mechanical Engineering

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APA (6^th Edition):

Potwar, K. P. (2013). Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane. (Thesis). Purdue University. Retrieved from http://docs.lib.purdue.edu/open_access_theses/120

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Potwar, Karna P. “Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane.” 2013. Thesis, Purdue University. Accessed December 13, 2019. http://docs.lib.purdue.edu/open_access_theses/120.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Potwar, Karna P. “Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane.” 2013. Web. 13 Dec 2019.

Vancouver:

Potwar KP. Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane. [Internet] [Thesis]. Purdue University; 2013. [cited 2019 Dec 13]. Available from: http://docs.lib.purdue.edu/open_access_theses/120.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Potwar KP. Modeling Of Legged Locomotion With A Suspended Load In The Sagittal Plane. [Thesis]. Purdue University; 2013. Available from: http://docs.lib.purdue.edu/open_access_theses/120

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Humboldt State University

23. La Farga, Jessica A. The effect of concussion on the metabolic cost of transport in walking.

Degree: MS, Kinesiology: Exercise Science, 2015, Humboldt State University

URL: http://hdl.handle.net/10211.3/150428

► A concussion is a type of traumatic brain injury that results in an overall decrease in executive function. Previous literature has reported that significant reductions… (more)

Subjects/Keywords: Concussion; Inverted pendulum mechanics; Cost of transport; Biomechanics; Walking energetics; Dynamic stability; Gait; Executive function

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APA (6^th Edition):

La Farga, J. A. (2015). The effect of concussion on the metabolic cost of transport in walking. (Masters Thesis). Humboldt State University. Retrieved from http://hdl.handle.net/10211.3/150428

Chicago Manual of Style (16^th Edition):

La Farga, Jessica A. “The effect of concussion on the metabolic cost of transport in walking.” 2015. Masters Thesis, Humboldt State University. Accessed December 13, 2019. http://hdl.handle.net/10211.3/150428.

MLA Handbook (7^th Edition):

La Farga, Jessica A. “The effect of concussion on the metabolic cost of transport in walking.” 2015. Web. 13 Dec 2019.

Vancouver:

La Farga JA. The effect of concussion on the metabolic cost of transport in walking. [Internet] [Masters thesis]. Humboldt State University; 2015. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10211.3/150428.

Council of Science Editors:

La Farga JA. The effect of concussion on the metabolic cost of transport in walking. [Masters Thesis]. Humboldt State University; 2015. Available from: http://hdl.handle.net/10211.3/150428

24. Mahmood, Zuhair. Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi .

Degree: ESOGÜ, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği, 2012, Eskisehir Osmangazi University

URL: http://hdl.handle.net/11684/866

► Bu çalışmada, ters sarkaç sisteminin, yukarı kaldırma problemi için nicemlenmiş denetim girişleri kullanılarak çeşitli benzetimler yapılmıştır. Sistem denge konumunun yakın bir komşuluğuna erişince denetim doğrusal… (more)

Subjects/Keywords: Ters Sarkaç; Yukarı Kaldırma; Nicemlenmiş Denetim; Inverted Pendulum; Swing-up; Quantized Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mahmood, Z. (2012). Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi . (Thesis). Eskisehir Osmangazi University. Retrieved from http://hdl.handle.net/11684/866

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mahmood, Zuhair. “Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi .” 2012. Thesis, Eskisehir Osmangazi University. Accessed December 13, 2019. http://hdl.handle.net/11684/866.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mahmood, Zuhair. “Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi .” 2012. Web. 13 Dec 2019.

Vancouver:

Mahmood Z. Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi . [Internet] [Thesis]. Eskisehir Osmangazi University; 2012. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/11684/866.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mahmood Z. Nicemli kontrol girişi ile ters sarkaç yukarı kaldırma benzetimi . [Thesis]. Eskisehir Osmangazi University; 2012. Available from: http://hdl.handle.net/11684/866

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Oregon

25. Fujimoto, Masahiro. Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling.

Degree: 2012, University of Oregon

URL: http://hdl.handle.net/1794/12532

► Falls are one of the most serious problems among the elderly, resulting in fatal physical injuries. Early identification of people at a high risk of… (more)

▼ Falls are one of the most serious problems among the elderly, resulting in fatal physical injuries. Early identification of people at a high risk of falling is needed to facilitate rehabilitation to reduce future fall risk. The overall goal of this dissertation was to develop biomechanical models that identify dynamic limits of balance control in daily functional activities associated with falling, including sit-to-stand (STS) movement, standing (stance perturbation), and walking. Poor performance of STS movement has been identified as one of the risk factors of falls among elderly individuals. We proposed a novel method to identify dynamic limits of balance control during STS movement using whole body center of mass (COM) acceleration and assessed its feasibility to differentiate individuals with difficulty in STS movement from healthy individuals. The results demonstrated that our model with COM acceleration could better differentiate individuals with difficulty in STS movement from healthy individuals than the traditional model with COM velocity. Poor postural control ability is also a risk factor of falls. Postural recovery responses to backward support surface translations during quiet standing were examined for healthy young and elderly adults. The results demonstrated that functional base of support (FBOS) and ankle dorsiflexor strength could be sensitive measures to detect elderly individuals with declined balance control. Our biomechanical model, which determines a set of balance stability boundaries, showed a better predictive capability than the statistical model for identifying unstable balance recovery trials, while the statistical model better predicted stable recovery trials. Lastly, walking requires a fine momentum control where COM acceleration could play an important role. Differences in control of dynamic stability during walking were examined with our proposed boundaries of dynamic stability. Elderly fallers adapted a more conservative gait strategy than healthy individuals, demonstrating significantly slower forward COM velocity and acceleration with their COM significantly closer to the base of support at toe-off, which could be indicative of a poor momentum control ability. Overall, this study demonstrated that COM acceleration would provide further information on momentum control, which could better reveal underlying mechanisms causing imbalance and provide an insightful evaluation of balance dysfunction. This dissertation includes unpublished co-authored material. Advisors/Committee Members: Chou, Li-Shan (advisor).

Subjects/Keywords: Balance; Center of mass; Gait; Inverted pendulum model; Perturbation; Sit-to-stand

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Fujimoto, M. (2012). Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling. (Thesis). University of Oregon. Retrieved from http://hdl.handle.net/1794/12532

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Fujimoto, Masahiro. “Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling.” 2012. Thesis, University of Oregon. Accessed December 13, 2019. http://hdl.handle.net/1794/12532.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Fujimoto, Masahiro. “Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling.” 2012. Web. 13 Dec 2019.

Vancouver:

Fujimoto M. Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling. [Internet] [Thesis]. University of Oregon; 2012. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/1794/12532.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Fujimoto M. Dynamic Limits of Balance Control during Daily Functional Activities Associated with Falling. [Thesis]. University of Oregon; 2012. Available from: http://hdl.handle.net/1794/12532

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brandeis University

26. Park, Hannah Erica. The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task.

Degree: 2019, Brandeis University

URL: http://hdl.handle.net/10192/36737

► In this study, 30 younger adults and 18 older adults completed a visual inverted pendulum (VIP) balancing task. The VIP paradigm was utilized to simulate… (more)

Subjects/Keywords: visual inverted pendulum; visual balancing; cognitive compensation; delay; magnitude; age; fall; fear of falling

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Park, H. E. (2019). The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task. (Thesis). Brandeis University. Retrieved from http://hdl.handle.net/10192/36737

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Park, Hannah Erica. “The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task.” 2019. Thesis, Brandeis University. Accessed December 13, 2019. http://hdl.handle.net/10192/36737.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Park, Hannah Erica. “The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task.” 2019. Web. 13 Dec 2019.

Vancouver:

Park HE. The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task. [Internet] [Thesis]. Brandeis University; 2019. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/10192/36737.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Park HE. The Effects of Age and Fear of Falling on a Visual Inverted Pendulum Balancing Task. [Thesis]. Brandeis University; 2019. Available from: http://hdl.handle.net/10192/36737

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Manitoba

27. Iverach-Brereton, Christopher James. Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain.

Degree: Computer Science, 2015, University of Manitoba

URL: http://hdl.handle.net/1993/30828

► This thesis presents a comparison of multiple control algorithms designed to allow a robot to balance on unstable terrain. To evaluate these algorithms I use… (more)

Subjects/Keywords: Humanoid robotics; Active balancing; Dynamic terrain; Inverted pendulum; PID control; Fuzzy logic; Artificial neural networks

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Iverach-Brereton, C. J. (2015). Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/30828

Chicago Manual of Style (16^th Edition):

Iverach-Brereton, Christopher James. “Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain.” 2015. Masters Thesis, University of Manitoba. Accessed December 13, 2019. http://hdl.handle.net/1993/30828.

MLA Handbook (7^th Edition):

Iverach-Brereton, Christopher James. “Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain.” 2015. Web. 13 Dec 2019.

Vancouver:

Iverach-Brereton CJ. Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain. [Internet] [Masters thesis]. University of Manitoba; 2015. [cited 2019 Dec 13]. Available from: http://hdl.handle.net/1993/30828.

Council of Science Editors:

Iverach-Brereton CJ. Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain. [Masters Thesis]. University of Manitoba; 2015. Available from: http://hdl.handle.net/1993/30828

Arizona State University

28. Naik, Manjish Arvind. Non-Linear System Identification Using Compressed Sensing.

Degree: MS, Electrical Engineering, 2011, Arizona State University

URL: http://repository.asu.edu/items/14342

► This thesis describes an approach to system identification based on compressive sensing and demonstrates its efficacy on a challenging classical benchmark single-input, multiple output (SIMO)… (more)

Subjects/Keywords: Electrical engineering; Compressed Sensing; Inverted Pendulum; Manjish Naik; Neural Networks; Non-linear; System Identification

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Naik, M. A. (2011). Non-Linear System Identification Using Compressed Sensing. (Masters Thesis). Arizona State University. Retrieved from http://repository.asu.edu/items/14342

Chicago Manual of Style (16^th Edition):

Naik, Manjish Arvind. “Non-Linear System Identification Using Compressed Sensing.” 2011. Masters Thesis, Arizona State University. Accessed December 13, 2019. http://repository.asu.edu/items/14342.

MLA Handbook (7^th Edition):

Naik, Manjish Arvind. “Non-Linear System Identification Using Compressed Sensing.” 2011. Web. 13 Dec 2019.

Vancouver:

Naik MA. Non-Linear System Identification Using Compressed Sensing. [Internet] [Masters thesis]. Arizona State University; 2011. [cited 2019 Dec 13]. Available from: http://repository.asu.edu/items/14342.

Council of Science Editors:

Naik MA. Non-Linear System Identification Using Compressed Sensing. [Masters Thesis]. Arizona State University; 2011. Available from: http://repository.asu.edu/items/14342

KTH

29. Gräsberg, Pontus. Reaction Wheel Stabilized Stick.

Degree: Industrial Engineering and Management (ITM), 2019, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481

►

Control theory can be used to make an unstable system stable. This thesis seeks to do this, where the system is a two DOF… (more)

Subjects/Keywords: Mechatronics; Reaction wheel; Inverted pendulum; State space; Control theory.; Engineering and Technology; Teknik och teknologier

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Gräsberg, P. (2019). Reaction Wheel Stabilized Stick. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gräsberg, Pontus. “Reaction Wheel Stabilized Stick.” 2019. Thesis, KTH. Accessed December 13, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gräsberg, Pontus. “Reaction Wheel Stabilized Stick.” 2019. Web. 13 Dec 2019.

Vancouver:

Gräsberg P. Reaction Wheel Stabilized Stick. [Internet] [Thesis]. KTH; 2019. [cited 2019 Dec 13]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gräsberg P. Reaction Wheel Stabilized Stick. [Thesis]. KTH; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Victoria

30. Mu, Bingxian. Cooperative control of quadrotors and mobile robots: controller design and experiments.

Degree: Department of Mechanical Engineering, 2017, University of Victoria

URL: https://dspace.library.uvic.ca//handle/1828/8894

► Cooperative control of multi-agent systems (MASs) has been intensively investigated in the past decade. The task is always complicated for an individual agent, but can… (more)

▼ Cooperative control of multi-agent systems (MASs) has been intensively investigated in the past decade. The task is always complicated for an individual agent, but can be achieved by collectively operating a group of agents in a reliable, economic and efficient way. Although a lot of efforts are being spent on improving MAS performances, much progress has yet to be developed on different aspects. This thesis aims to solve problems in the consensus control of multiple quadrotors and/or mobile robots considering irregular sampling controls, heterogeneous agent dynamics and the presence of model uncertainties and disturbances. The thesis proceeds with Chapter 1 by providing the literature review of the state-of-the-art development in the consensus control of MASs. Chapter 2 introduces experimental setups of the laboratory involving two-wheeled mobile robots (2WMRs), quadrotors, positioning systems and inter-vehicle communications. All of the developed theoretical results in Chapters 3-6 are experimentally verified on the platform. Then it is followed by two main parts: Irregular sampling consensus control methods (Chapter 3 and 4) and cooperative control of heterogeneous MASs (Chapter 5 and 6). Chapter 3 focuses on the non-uniform sampling consensus control for a group of 2WMRs, and Chapter 4 studies the event-based rendezvous control for a group of asynchronous robots with time-varying communication delays. Chapter 5 concentrates on cooperative control methods for a heterogeneous MAS consisting of quadrotors and 2WMRs. Chapter 6 focuses on the design of a quadrotor flight controller which is robust to various adverse factors such as model uncertainties and external disturbances. The developed controller is further applied to the consensus control of the heterogeneous MAS. Specifically, Chapter 3 studies synchronized and non-periodical sampling consensus control methods for a group of 2WMRs. The directed and switching communication topologies among the network are considered in the controller design. The 2WMR is an underactuated system, which implies that it can not generate independent x and y accelerations in the two-dimensional plane. The rendezvous control methods are proposed for 2WMRs. The algebraic graph theory and stochastic matrix analysis are employed to conduct the convergence analysis. Although the samplings in the work of Chapter 3 are aperiodic, one feature is that local clocks of agents are required to be synchronized. Challenges arise in the practical control of distributed MASs, especially in the scenario that the global clock is lacking. Moreover, frequent samplings can result in redundant information transmissions when the communication bandwidth is limited. To address these problems, Chapter 4 investigates an event-based rendezvous control method for a group of asynchronous MAS with time-varying communication delays. Integral-type triggering conditions for each robot are adopted to be checked periodically. If the triggering condition is satisfied at one checking instant, the agent… Advisors/Committee Members: Shi, Yang (supervisor).

Subjects/Keywords: multi-agent systems; consensus; cooperative control; quadrotor; two-wheeled mobile robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mu, B. (2017). Cooperative control of quadrotors and mobile robots: controller design and experiments. (Thesis). University of Victoria. Retrieved from https://dspace.library.uvic.ca//handle/1828/8894

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mu, Bingxian. “Cooperative control of quadrotors and mobile robots: controller design and experiments.” 2017. Thesis, University of Victoria. Accessed December 13, 2019. https://dspace.library.uvic.ca//handle/1828/8894.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mu, Bingxian. “Cooperative control of quadrotors and mobile robots: controller design and experiments.” 2017. Web. 13 Dec 2019.

Vancouver:

Mu B. Cooperative control of quadrotors and mobile robots: controller design and experiments. [Internet] [Thesis]. University of Victoria; 2017. [cited 2019 Dec 13]. Available from: https://dspace.library.uvic.ca//handle/1828/8894.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mu B. Cooperative control of quadrotors and mobile robots: controller design and experiments. [Thesis]. University of Victoria; 2017. Available from: https://dspace.library.uvic.ca//handle/1828/8894

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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Open Access Theses and Dissertations