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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...
In this paper, experimental studies on designing Q filters in the disturbance observer (DOB) based motion control for balancing a one-wheel robot are presented. The robot is simply modeled as a second order system and the corresponding Q filters are designed to form a DOB control structure. Two Q-filters such as Q20 and Q31 are investigated and analyzed in a view point of disturbance rejection performance...
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,...
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