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Four-rotor MAV (Micro Aerial Vehicle) is an under-actuated system which has four electric motors as the power plant and controls the flight by adjusting the motor speed, in order to achieve the flight control of the four-rotor MAV based on Internet of Things, "X" model is applied to design flight control system, and MCU-STM32F103 is used as the main controller to present the hardware design...
Two-wheeled self-balanced becomes a typical device to test various control method because of its unique characteristics. The sliding mode of VSC (Variable Structure Control) has strong robustness, so it is applied to the two-wheeled self-balancing vehicle would be a great advantage, but there is few research on it. To realize the computer control based on the discrete variable structure controller,...
The two-wheeled self-balancing vehicle is a typical complex system with multi-variable, nonlinear and strong coupling, parameter uncertainty and so on. Therefore, the two-wheeled vehicle is an ideal platform for testing and learning various control methods. And system sensitivity is a theory for studying the effect with uncertainty parameters to system performance. Use the theory, this paper optimizes...
The chattering is inevitable in using Variable Structure Controller (VSC) to control two-wheeled unstable vehicle. Although the traditional methods which are improved the reaching law and the switching surface effectively impair the chattering, they impair the anti-interfering of VSC at same time. To solve this problem, the dynamic pseudo sliding mode control with disturbance compensation term is...
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