Sökning: "pendel"

Visar resultat 16 - 20 av 53 uppsatser innehållade ordet pendel.

  1. 16. Robust Reinforcement Learning in Continuous Action/State Space

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Axel Grönland; Viktor Eriksson Möllerstedt; [2020]
    Nyckelord :Robust Reinforcement Learning; Neural Net-work; Dynamical Systems; TD Learning;

    Sammanfattning : In this project we aim to apply Robust Reinforce-ment Learning algorithms, presented by Doya and Morimoto [1],[2], to control problems. Specifically, we train an agent to balancea pendulum in the unstable equilibrium, which is the invertedstate.We investigate the performance of controllers based on twodifferent function approximators. LÄS MER

  3. 17. Balancing Cube

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :TIM GIDLÖF; CARL GRUNEAU; [2020]
    Nyckelord :Mechatronics; Reaction wheel; Balancing robot; Control theory; PID; Mekatronik; Reaktionshjul; Balanserande robot; Reglerteknik; PID;

    Sammanfattning : In todays society there are microprocessors in almost every new item that is produced for home use. They are all being connected and smart, and by that microcontrollers are playing an increasingly important role in peoples private life. LÄS MER

  4. 18. Inverted Pendulum Stability Regarding Bandwidth and Center of Mas

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :ALEXANDER JOHNSSON; TAGE RÅHLÉN; [2020]
    Nyckelord :Inverted Pendulum; Bandwidth; Arduino UNO; PID controller; Stability; Center of Mass; Inverterad Pendel; Bandbredd; Arduino UNO; PID-regulator; Stabilitet; Tyngdpunkt;

    Sammanfattning : This bachelor thesis at the Royal Institute of Technology in Stockholm, Sweden, aims to clarify how the minimum bandwidth of a stabilised mobile inverted pendulum is affected by the position of its center of mass and the frequency of measuring the state variables. The scope is to apply basic theories in automation control and electronic systems when designing the system. LÄS MER

  5. 19. Nonlinear Approximative Explicit Model Predictive Control Through Neural Networks : Characterizing Architectures and Training Behavior

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Tobias Bolin; [2019]
    Nyckelord :;

    Sammanfattning : Model predictive control (MPC) is a paradigm within automatic control notable for its ability to handle constraints. This ability come at the cost of high computational demand, which until recently has limited use of MPC to slow systems. LÄS MER

  7. 20. Control and balancing of a small vehicle with two wheels for autonomous driving

    Master-uppsats, KTH/Fordonsdynamik

    Författare :Saro Batmanian; Pasam Naga; [2019]
    Nyckelord :Inverted pendulum; PID controller; Pole placement method; LQR; Hoverboard; Segways; Prototype; Arduino board; Gyroscope; Accelerometer; BLDC motor controllers; EPOS motor controllers; Embedded systems and control and bluetooth remote.;

    Sammanfattning : Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. LÄS MER