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Dynamic Modeling of a Two-wheeled Inverted Pendulum Balancing Mobile Robot
저자
김상태, 권상주
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2015
주제
요약
본 논문은 자전거형 전복 진자 로봇의 동적 모델링 절차를 라그랑주 방법과 케인의 방법을 통해 분석하고, 정확한 동적 모델을 제시합니다. 기존 연구에서 발생했던 모델링 오류의 원인을 규명하고, 오류 항이 자세 안정성에 미치는 영향을 수치 예제를 통해 확인합니다.
학술지 영향력
[International Journal of Control, Automation, and Systems]
- CiteScore
- 5.6
- ES
- 0.00608
- JCI
- 0.55
- JCR
- 2.9
- KCI
- 0.49
- SJR
- 0.547
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