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The ultimate goal of a single-wheel mobile robot is to maintain balance and to navigate on its terrain autonomously. To become an autonomous vehicle, it is required to stand up and drive by itself. In this paper, a controllable balancing angle of the single-wheel mobile robot, GYROBO developed previously, is found by empirical studies. A dynamic equation of the gyroscopic effect between a gimbal and...
Disturbance observer(DOB) has been known as a simple robust control method to reject disturbances. Design of Q filters is considered as the most important design technique for the DOB design to compensate for the possible improperness of the inverse model of the plant as well as a non minimum phase. Many efforts on Q-filter design have been accomplished to realize a stable filter for the inverse of...
Gyroscopically manipulated lateral motion of a single-wheel based robot system has a parametric oscillation problem. In this paper, we analyze the stability regions for balancing the single-wheel robot system and then propose how to determine the offset range of its suppression controller. Since the roll motion is coupled with the pitch motion, the parametric oscillation problem should be analyzed...
In this paper, a new surrogate assisted multi-objective optimization algorithm is presented to optimize an interior permanent magnet synchronous motor (IPMSM) design for fuel cell electric vehicle. The proposed algorithm is a multi-objective algorithm (MOO) that can both maximize the efficiency and torque amplitude and minimize the torque ripple to improve the power transmission efficiency, noise,...
Disturbance observers (DOB) are used to reject external disturbances as well as inherent internal uncertainties. The time-delayed control method is also a kind of DOB that cancels out uncertainties by delayed information. Relying on a delayed control input may cause the phase delay in the system, and it further leads to the instability of the system. Another problem is to use an acceleration feedback...
In this paper we study the asymptotic stability of neutral functional differential equation (NFDE) model of genetic regulatory networks (GRNs) with time-varying delays. It is assumed that time varying delays belong to the predefined intervals. SUM regulatory logic was used for the modeling of the effects from other genes. We consider not only time delayed concentration of messenger ribonucleic acid...
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