1 resultado para Control theory
em Repositório Digital da UNIVERSIDADE DA MADEIRA - Portugal
Filtro por publicador
- Repository Napier (1)
- Aberystwyth University Repository - Reino Unido (2)
- AMS Tesi di Dottorato - Alm@DL - Università di Bologna (12)
- AMS Tesi di Laurea - Alm@DL - Università di Bologna (2)
- Aquatic Commons (1)
- ArchiMeD - Elektronische Publikationen der Universität Mainz - Alemanha (2)
- Archive of European Integration (1)
- Archivo Digital para la Docencia y la Investigación - Repositorio Institucional de la Universidad del País Vasco (16)
- Aston University Research Archive (34)
- Biblioteca Digital da Produção Intelectual da Universidade de São Paulo (9)
- Biblioteca Digital da Produção Intelectual da Universidade de São Paulo (BDPI/USP) (1)
- Biblioteca Digital de Teses e Dissertações Eletrônicas da UERJ (2)
- BORIS: Bern Open Repository and Information System - Berna - Suiça (25)
- Boston University Digital Common (10)
- Brock University, Canada (3)
- Bulgarian Digital Mathematics Library at IMI-BAS (7)
- CaltechTHESIS (5)
- Cambridge University Engineering Department Publications Database (47)
- CentAUR: Central Archive University of Reading - UK (75)
- Central European University - Research Support Scheme (2)
- Chinese Academy of Sciences Institutional Repositories Grid Portal (14)
- Cochin University of Science & Technology (CUSAT), India (1)
- Coffee Science - Universidade Federal de Lavras (1)
- Comissão Econômica para a América Latina e o Caribe (CEPAL) (1)
- CORA - Cork Open Research Archive - University College Cork - Ireland (4)
- Corvinus Research Archive - The institutional repository for the Corvinus University of Budapest (4)
- Deakin Research Online - Australia (54)
- Digital Commons - Michigan Tech (3)
- Digital Commons @ DU | University of Denver Research (1)
- Digital Commons at Florida International University (13)
- Digital Peer Publishing (1)
- DigitalCommons - The University of Maine Research (1)
- DigitalCommons@The Texas Medical Center (2)
- DigitalCommons@University of Nebraska - Lincoln (2)
- Doria (National Library of Finland DSpace Services) - National Library of Finland, Finland (1)
- DRUM (Digital Repository at the University of Maryland) (1)
- Duke University (3)
- Ecology and Society (1)
- eResearch Archive - Queensland Department of Agriculture; Fisheries and Forestry (2)
- Glasgow Theses Service (2)
- Greenwich Academic Literature Archive - UK (2)
- Helda - Digital Repository of University of Helsinki (5)
- Indian Institute of Science - Bangalore - Índia (42)
- Instituto Politécnico de Viseu (2)
- Instituto Politécnico do Porto, Portugal (3)
- Massachusetts Institute of Technology (4)
- Ministerio de Cultura, Spain (2)
- National Aerospace Laboratory (NLR) Reports Repository (1)
- National Center for Biotechnology Information - NCBI (4)
- Nottingham eTheses (4)
- Plymouth Marine Science Electronic Archive (PlyMSEA) (1)
- Portal de Revistas Científicas Complutenses - Espanha (2)
- Publishing Network for Geoscientific & Environmental Data (1)
- QSpace: Queen's University - Canada (2)
- QUB Research Portal - Research Directory and Institutional Repository for Queen's University Belfast (44)
- Queensland University of Technology - ePrints Archive (233)
- Repositório Científico da Universidade de Évora - Portugal (1)
- Repositório Científico do Instituto Politécnico de Lisboa - Portugal (1)
- Repositório digital da Fundação Getúlio Vargas - FGV (6)
- Repositório Digital da UNIVERSIDADE DA MADEIRA - Portugal (1)
- Repositório Institucional da Universidade de Aveiro - Portugal (2)
- Repositório Institucional da Universidade de Brasília (1)
- Repositório Institucional UNESP - Universidade Estadual Paulista "Julio de Mesquita Filho" (66)
- RIBERDIS - Repositorio IBERoamericano sobre DIScapacidad - Centro Español de Documentación sobre Discapacidad (CEDD) (1)
- SAPIENTIA - Universidade do Algarve - Portugal (6)
- Universidad de Alicante (1)
- Universidad del Rosario, Colombia (11)
- Universidad Politécnica de Madrid (13)
- Universidade Complutense de Madrid (1)
- Universidade Estadual Paulista "Júlio de Mesquita Filho" (UNESP) (1)
- Universidade Federal de Uberlândia (1)
- Universidade Federal do Rio Grande do Norte (UFRN) (5)
- Universitat de Girona, Spain (9)
- Universitätsbibliothek Kassel, Universität Kassel, Germany (5)
- Université de Montréal (1)
- Université de Montréal, Canada (2)
- Université Laval Mémoires et thèses électroniques (1)
- University of Connecticut - USA (2)
- University of Michigan (10)
- University of Queensland eSpace - Australia (24)
- University of Washington (2)
- WestminsterResearch - UK (1)
Resumo:
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 is a good example for control engineers to verify a control theory. To verify that the pendulum can balance we can make some simulations using a closed-loop controller method such as the linear quadratic regulator or the proportional–integral–derivative method. Also the idea of robotic teleoperation is gaining ground. Controlling a robot at a distance and doing that precisely. However, designing the tool to takes the best benefit of the human skills while keeping the error minimal is interesting, and due to the fact that the inverted pendulum is an unstable system it makes a compelling test case for exploring dynamic teleoperation. Therefore this thesis focuses on the construction of a two-wheel inverted pendulum robot, which sensor we can use to do that, how they must be integrated in the system and how we can use a human to control an inverted pendulum. The inverted pendulum robot developed employs technology like sensors, actuators and controllers. This Master thesis starts by presenting an introduction to inverted pendulums and some information about related areas such as control theory. It continues by describing related work in this area. Then we describe the mathematical model of a two-wheel inverted pendulum and a simulation made in Matlab. We also focus in the construction of this type of robot and its working theory. Because this is a mobile robot we address the theme of the teleoperation and finally this thesis finishes with a general conclusion and ideas of future work.