Sökning: "Inverted Pendulum"
Visar resultat 1 - 5 av 49 uppsatser innehållade orden Inverted Pendulum.
1. Reaction Wheel Control System for a Self-balancing Bike : Reaction wheel based control mechanism for a small scale prototype bike
Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)Sammanfattning : In this thesis, the design of a self balancing prototype bike with a reaction wheel as balancing mechanism will be investigated. Bikes are inherently unstable systems, that dynamically resemble an inverted pendulum at a stand still. LÄS MER
2. Embedded Control of a Rotary Inverted Pendulum
Master-uppsats, Uppsala universitet/Institutionen för informationsteknologiSammanfattning : In modern-day contemporary control systems, such as robots, drones, and autonomous vehicles the control algorithms are bound to be implemented on embedded devices that pose a set of challenges and limitations such as low computational capacity and memory. Thus, it is crucial to design and implement efficient control algorithms while using low-level programming languages such as C / C++. LÄS MER
3. Balans-en : Construction of a self-balancing robot with tilt setpoint correction
Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)Sammanfattning : This report presents the construction of a two-wheeled self balancing robot with the ability to handle an uneven load. Two-wheeled self-balancing robots have proven to be a potential solution to the problem of efficient warehouse management, thanks to their ability to navigate tight spaces quickly and efficiently while balancing their load. LÄS MER
4. Reinforcement Learning for Hydrobatic AUVs
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : This master thesis focuses on developing a Reinforcement Learning (RL) controller to perform hydrobatic maneuvers on an Autonomous Underwater Vehicle (AUV) successfully. This work also aims to analyze the robustness of the RL controller, as well as provide a comparison between RL algorithms and Proportional Integral Derivative (PID) control. LÄS MER
5. Toward Adaptation of Data Enabled Predictive Control for Nonlinear Systems
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : With the development of technology and availability of data, it is sometimes easier to learn the control policies directly from the data, rather than modeling a plant and designing a controller. Modeling a plant is not always possible due to the complexity of the plant. LÄS MER