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Passivity-based Nonlinear Control for a Ballbot to Balance and Transfer
저자
Van
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2019
주제
요약
본 논문은 구형 볼 위에서 스스로 균형을 유지하며 주어진 위치로 이동할 수 있는 로봇인 볼봇의 비선형 제어를 제안합니다. 수동성 기반 제어 기법과 Lyapunov 이론을 활용하여 볼봇의 균형 및 이동 제어를 위한 제어기를 설계하고, 실제 볼봇 시스템을 통해 제어 알고리즘의 유효성을 검증했습니다.
연관 콘텐츠
LikeSNU에서 의미기반으로 분석하여 연관된 자료를 추천해드립니다.
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