Đang chuẩn bị liên kết để tải về tài liệu:
Observer-based PD controller for balancing robot with uncertain model

This research focuses on the observer-based controller of a balancing robot. Firstly, the dynamic model of the robot is inferred. The uncertainty of the model parameters is then introduced as constraints in state space. Practically, it is very difficult to measure state variables as velocity and acceleration. |