Two-Wheeled Inverted Pendulum Robot NXT Lego Mindstorms: Mathematical Modelling and Real Robot Comparisons
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Resumen:El objetivo de este artículo es desarrollar y comparar diferentes modelos de un robot tipo péndulo invertido de dos ruedas llamado NXT Lego Mindstorms. Dos modelos son desarrollados: un modelo completo no lineal y uno lineal obtenido mediante estimación por mínimos cuadrados. Las respuestas de ambos modelos son comparadas conla respuesta del robot real.El modelado de procesos es fundamental en la síntesis de controladores, ya que en su mayoríael diseño de controladores está basado en modelos matemáticos.Por lo tanto, en la medida que obtengamosmejores y más exactos modelos más fácilmente será derivar controladores que presenten un desempeño satisfactorio.
Abstract:The aim of this paper is to develop and compare different models of a two-wheeled inverted pendulum robot calledNXT Lego Mindstorms. Two models are developed, a complete nonlinear one, and alinear one based on least squares estimation. The responses of both models are compared with the response of the real robot. Processesmodeling is fundamental in controllers’ synthesis, sincemost of the controllers design are based on mathematical models. Therefore, if better and moreaccurate mathematical modelsare obtained more easily is the controller’s synthesis for satisfactorily performance.
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