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Design of control system of two wheels mobile robot
Robenek, Vít ; Kovář, Jiří (referee) ; Houška, Pavel (advisor)
The aim of this bachelor thesis is to design control system of a two-wheel mobile robot and to subsequently implement this system using available sensor devices and National Instruments’ Single-Board RIO platform. The introduction briefly describes the general issue of two-wheel mobile robots as inverted pendulums, followed by an overview of several existing solutions to this problem. The following describes used robot including description of its parts and its mathematical model. Then the main part of the work follows, which is design of the sensory and control system. At the end of the thesis, the implementation is described along with evaluation of the stabilization system results.
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Neural-Fuzzy Systems
Dalecký, Štěpán ; Samek, Jan (referee) ; Zbořil, František (advisor)
The thesis deals with artificial neural networks theory. Subsequently, fuzzy sets are being described and fuzzy logic is explained. The hybrid neuro-fuzzy system stemming from ANFIS system is designed on the basis of artificial neural networks, fuzzy sets and fuzzy logic. The upper-mentioned systems' functionality has been demonstrated on an inverted pendulum controlling problem. The three controllers have been designed for the controlling needs - the first one is on the basis of artificial neural networks, the second is a fuzzy one, and the third is based on ANFIS system. The thesis is aimed at comparing the described systems, which the controllers have been designed on the basis of, and evaluating the hybrid neuro-fuzzy system ANFIS contribution in comparison with particular theory solutions. Finally, some experiments with the systems are demonstrated and findings are assessed.
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Control Design of the Rotation Inverted Pendulum
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Matoušek, Radomil (advisor)
Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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A proposal for two wheeled autonomous robot
Hess, Lukáš ; Marada, Tomáš (referee) ; Zuth, Daniel (advisor)
The goal of this diploma thesis is a proposal of autonomous two wheeled balancing robot, differentially driven. This kind of robot is especially suitable in confined space, where it can utilize its maneuver skills. Many criteria as operational conditions, materials, size and weight of the robot, suitable hardware and sensors must to be considered, when designing the robot. Development and implementation of autonomous balancing control system is also part of the thesis.
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Implementation of mechatronic demonstration device
Fedor, Filip ; Pohl, Lukáš (referee) ; Friml, Dominik (advisor)
Paper covers implementation of mechatronic demonstration device using PMS motor. It consists of four parts. Part one lists mechatronic demonstration devices and chooses the appropriate one to be build. Part two explains means of driving PMS motor with focus on FOC algoritm. Part three covers real-life demonstration of torque and position control of PMS motor. In part four suitable motor is chosen using mathematical modeling. Part five covers assembly and testing of mechatronic demonstration device.
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Control Design of the Rotation Inverted Pendulum
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Matoušek, Radomil (advisor)
Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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Neural-Fuzzy Systems
Dalecký, Štěpán ; Samek, Jan (referee) ; Zbořil, František (advisor)
The thesis deals with artificial neural networks theory. Subsequently, fuzzy sets are being described and fuzzy logic is explained. The hybrid neuro-fuzzy system stemming from ANFIS system is designed on the basis of artificial neural networks, fuzzy sets and fuzzy logic. The upper-mentioned systems' functionality has been demonstrated on an inverted pendulum controlling problem. The three controllers have been designed for the controlling needs - the first one is on the basis of artificial neural networks, the second is a fuzzy one, and the third is based on ANFIS system. The thesis is aimed at comparing the described systems, which the controllers have been designed on the basis of, and evaluating the hybrid neuro-fuzzy system ANFIS contribution in comparison with particular theory solutions. Finally, some experiments with the systems are demonstrated and findings are assessed.
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A proposal for two wheeled autonomous robot
Hess, Lukáš ; Marada, Tomáš (referee) ; Zuth, Daniel (advisor)
The goal of this diploma thesis is a proposal of autonomous two wheeled balancing robot, differentially driven. This kind of robot is especially suitable in confined space, where it can utilize its maneuver skills. Many criteria as operational conditions, materials, size and weight of the robot, suitable hardware and sensors must to be considered, when designing the robot. Development and implementation of autonomous balancing control system is also part of the thesis.
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